Recipe printed from Jenn's Food Journey, courtesy Mary, One Perfect Bite
1 cup whole milk
1 stick (8T) unsalted butter, room temperature
2 1/4 teaspoons (1 package) active dry yeast
1/2 cup granulated sugar
4 1/2 cups all-purpose flour
2 eggs, room temperature
1 teaspoons table salt
1/3 cup unsalted butter, softened
1/3 brown sugar
2 Tablespoons ground cinnamon
1 cup chopped toasted pecans (I left this out)
4 ounces cream cheese, room temperature
1/4 cup butter, softened
1/2 teaspoon vanilla
1 1/2 cups confectioners' sugar (I used 1 cup)
1 Tablespoons milk
To make dough: Scald milk over medium-high heat. Pour into a large bowl of an electric mixer. Add the butter and stir until butter has melted. Set aside until mixture is lukewarm. Stir yeast and sugar into milk. Add 1 cup flour and mix well. Add eggs, one at a time, beating well after each addition. Add salt and 1 more cup of flour. Mix vigorously until dough is smooth and elastic, about 3 minutes on medium speed. Add reserved 2 1/2 cups flour and mix just until incorporated. Turn dough onto a lightly floured surface. Continue kneading by hand until it is smooth. Place the dough in a bowl, cover with plastic wrap and a towel, and set aside until it has doubled in size, about 2 hours.
To make the filling: Mix cinnamon and sugar together in a small bowl.
To assemble rolls: Grease a 13x9-inch baking pan (I used two round cake pans). Turn dough onto a well-floured surface. Roll dough with a rolling pin into an evenly shopped 12x16-inch rectangle. Brush dough liberally with softened butter. Sprinkle with an even layer of cinnamon/sugar mixture, leaving a 1/2 inch border along one of the long sides. Sprinkle with toasted pecans if using. Roll, beginning with long side of rectangle. Use finger tips to pinch dough as you roll, sealing edges firmly to form a seam. Cut into 12 pieces using a serrated knife or dental floss and arrange in pan. Cover loosely with plastic wrap and allow to rise until double in size, about 4 hours.
Preheat oven to 350 degrees F. Bake rolls in center of oven until they are golden, 25-30 minutes. Invert rolls onto a wire rack and cool to rooms temperature, about 20 minutes.
To make icing: Mix all ingredients until smoother, add more milk as required for drizzling. Drizzle (or spread as I did) icing over rolls with spoon. Cut or pull apart to separate. Serve warm. Enjoy!