Cinnamon Rolls

In a large mixing bowl, combine 1 cup warmed milk, 0.25 cup sugar, and 2.25 tsp active dry yeast. Let sit 5 minutes until foamy.

Add 3 cups all-purpose flour, 0.5 tsp salt, and 3 tbsp softened butter to the yeast mixture. Mix with a stand mixer on low speed or by hand until a shaggy dough forms.

Knead on medium speed for 8–10 minutes until dough is smooth and elastic, or knead by hand on a floured surface for 10–12 minutes. Dough should be soft but not sticky.

Shape dough into a ball, place in a lightly oiled bowl, cover with a damp towel, and let rise in a warm place for 1 hour or until doubled in size.

Punch down risen dough and transfer to a lightly floured surface. Roll into a 16 × 12 inch rectangle.

Brush the dough rectangle with 0.25 cup softened butter, leaving a small border. Sprinkle evenly with a mixture of 2.5 tbsp cinnamon and 0.75 cup packed brown sugar.

Starting at the long edge closest to you, roll the dough tightly into a log. Cut the log into 12 equal slices using a sharp knife or dental floss.

Place rolls cut-side up in a lightly buttered 9 × 13 baking pan. Cover loosely with a damp towel.

Let rolls rise in a warm place for 45–60 minutes until nearly doubled and puffy.

Preheat oven to 350°F. Bake rolls uncovered for 22–25 minutes until golden brown on top and cooked through.

While rolls bake, whisk together 1.5 cups powdered sugar, 3 tbsp melted butter, 1 tsp vanilla extract, and 2–3 tbsp milk until smooth and pourable.

Remove rolls from oven and let cool for 5 minutes. Drizzle glaze evenly over warm rolls. Cool on a rack for 10 minutes before serving.