Dough
1 cup milk
4 Tbs butter, cut into chunks
3 1/4 – 3 1/2 cups all-purpose flour, divided
1 (.25 ounce) package instant or ‘rapid rise’ yeast (about 2 1/4 tsp)
1/4 cup white sugar
1/2 teaspoon salt (alternate recipe used 1 tsp)
1 egg
Filling:
⅔ c. brown sugar
1 tbsp. ground cinnamon
¾ tsp. vanilla extract
¼ tsp. almond extract
4 Tb softened butter (keep separate)
Icing
4 oz cream cheese, at room temperature
1/4 C or less butter
1/2 tsp vanilla
1/2 Tb milk
2-2 1/2 C powder sugar
pinch of salt
Directions
Place milk and butter in a microwave safe bowl. Heat on high for 1 minute 30 seconds. Butter should be at least partially melted. Stir and set aside. (I heat only the milk to scald, then add the cold butter and stir to melt. It cools faster this way) In a large mixing bowl whisk together 2 C flour, yeast, white sugar, and salt. When milk mixture has cooled to warm (not hot) add it to the flour mixture along with the egg. Beat until well combined, about 1 minute. Add remaining flour only until dough barely leaves the sides of the bowl. It should be very soft and slightly sticky. Continue to let the dough knead for 5 minutes. Turn dough out onto a floured surface and let rest for 5-10 minutes while you make the filling.
Preheat the oven to 200 degrees.
Once the dough has rested, roll it out on a lightly floured surface until it measures a 16x9 inch rectangle. Prepare the filling by combining all of the ingredients in a small mixing bowl except for the butter. Spread the butter over the top of the rolled dough, then cover with the filling. Tightly roll the dough and cut into 12 portions. I like to use dental floss for this... I also cut it in half, then fourths etc. That way my pieces are all uniform in size (you may have a few smaller pieces from the ends, just arrange them around the larger rolls).
Place the rolls into a lightly greased 9x13 baking dish and gently press a piece of aluminum foil over top. Turn OFF your oven and place the covered rolls inside to rise for 25 minutes.
Remove the rolls from the oven and turn ON your oven to 375 degrees. Once heated, remove the foil and bake the rolls for 15-18 minutes or until the centers are lightly golden brown in color.
Remove from the oven and invert cinnamon rolls upside down with a wire rack and cookie sheet. Allow to cool for 5 minutes upside down. This keeps the bottoms from getting soggy. While rolls are cooling, prepare the icing by combining all of the ingredients in a small mixing bowl and beating by hand or with a hand mixer until smooth. Flip rolls right side up and dollop a Tb of frosting on each roll then spread.
Updated 1/2018 with new dough recipe from: https://ourbestbites.com/everyday-cinnamon-rolls/