Instructions

1. Prepare the Dough: In a small saucepan, combine milk and butter. Heat on low and stir until the butter is melted and the milk is warm to the touch. If needed, let the milk mixture sit for a few minutes until it is warm but not hot. (It should be around 110°F). In a separate bowl, whisk together 3 cups flour, sugar and salt until combined. In the bowl of a stand mixer fitted with the dough-hook attachment, add yeast and lukewarm milk mixture and stir by hand to combine. Add the flour mixture and egg and mix on medium-low speed until combined. If the dough is sticking to the sides of the bowl, add the remaining flour, ¼ cup at a time, until the dough begins to form a ball and pulls away from the sides of the bowl (only add up to 3 ½ cups of flour total). Continue kneading for 5 minutes on medium-low speed. Remove dough and gently form it into a ball with your hands. Place it in a bowl greased lightly with vegetable oil and cover with a damp towel. Let rest for 10 minutes
2. Prepare the Filling: While the dough is resting, whisk together the sugars and cinnamon in a bowl until combined
3. Prepare the Cinnamon Rolls: When the dough is ready, gently turn it out onto a lightly floured work surface. Use a floured rolling pin to roll the dough out into a large rectangle, about 14 x 9 inches in size. (If you want all edges to be even, you can use a pizza slicer to cut the dough into a perfect rectangle.) Use a knife or offset pastry spatula to spread the softened butter evenly over the entire surface of the dough. Sprinkle evenly with the cinnamon and sugar mixture. Beginning at the 14-inch edge, tightly roll up the dough. Pinch together the seam so that it seals. Use a piece of unflavored, unwaxed dental floss (see note below) to “cut” off the two ends of the roll (an inch on each end – discard that dough) so that they are even. Then cut the remaining dough into 11 or 12 equally-sized pieces. Place each of the cut cinnamon rolls into a lightly greased pie plate or 9 x 13-inch baking dish. Cover again with a damp towel and leave the dish in a warm place to allow the cinnamon rolls to rise for 25 minutes
4. Prepare the Icing: While the dough is rising, whisk the softened cream cheese and butter together until combined using an electric mixer or by hand. Whisk in the vanilla until combined. Whisk in the powdered sugar until combined. If the icing is too thick, add a tablespoon or two of milk to thin it out to your desired consistency (I usually add in two tablespoons of milk)
5. Bake: When the rolls have risen, uncover the dish. Place the dish on the center rack of the oven and bake at 350°F for 15-20 minutes, or until the rolls are golden brown and cooked through. Remove and let cool on a wire rack for at least 5 minutes. Slather on the icing and serve warm