For the Dough:
1 cup warm milk (about 110°F)
2 ¼ tsp (1 packet) active dry yeast
½ cup granulated sugar
⅓ cup unsalted butter, melted
2 large eggs, room temperature
4 ½ cups all-purpose flour (plus extra for rolling)
1 tsp salt
For the Filling:
½ cup unsalted butter, softened
1 cup brown sugar, packed
2 ½ tbsp ground cinnamon
For the Vanilla Sugar Glaze:
¼ cup unsalted butter, softened
1 ½ cups powdered sugar
½ tsp vanilla extract
2–3 tbsp milk (to thin, if needed)
Instructions
In a large bowl, combine warm milk and yeast. Let sit for 5–10 minutes until foamy
Mix in sugar, melted butter, and eggs. Stir well.
Add flour and salt gradually, mixing until a dough forms.
Knead on a floured surface for about 8 minutes (or with a dough hook for 5 minutes) until smooth and elastic.
Place dough in a greased bowl, cover with a towel, and let rise in a warm spot for 1–1 ½ hours, or until doubled in size.
Mix softened butter, brown sugar, and cinnamon in a small bowl until spreadable.
Punch down risen dough. Roll out into a large rectangle (about 16x12 inches).
Spread the cinnamon filling evenly over the dough. Starting from the long side, roll dough tightly into a log. Slice into 12 even pieces.
Place rolls in a greased 9x13-inch baking dish. Cover and let rise for 30–45 minutes until puffy.
Preheat oven to 350°F (175°C). Bake rolls for 25–30 minutes, until golden brown.
Mix the butter, powdered sugar, milk and vanilla until smooth. Spread glaze over warm cinnamon rolls. Serve immediately!