Iced Cinnamon Rolls

Ingredients

• For the dough: 1 cup warm milk (about 110°F)
• 2 1/4 tsp (1 packet) instant yeast
• 1/4 cup sugar
• 1/3 cup melted butter
• 2 large eggs
• 4 cups all-purpose flour, plus more for rolling
• 1 tsp salt
• For the filling: 6 tbsp very soft butter
• 3/4 cup packed brown sugar
• 2 tbsp ground cinnamon
• For the icing: 4 oz cream cheese, softened
• 3 tbsp soft butter
• 1 1/2 cups powdered sugar
• 1/2 tsp vanilla extract
• 1 to 2 tbsp milk

Steps

1. Stir the warm milk, yeast and sugar in a large bowl. Add the melted butter and eggs, then the flour and salt, and mix into a soft dough.
2. Knead 5 minutes until smooth and slightly tacky. Cover and let rise in a warm spot until doubled, about 1 hour.
3. Roll the dough on a floured counter into a 16 x 12-inch rectangle. Spread with the soft butter and sprinkle evenly with the brown sugar and cinnamon.
4. Roll up tightly from a long side and cut into 12 slices. Set them in a buttered 9x13 dish, cover, and let rise until puffy, 30 to 40 minutes.
5. Bake at 350°F until golden and cooked through in the center, 22 to 26 minutes.
6. Beat the cream cheese, butter, powdered sugar and vanilla, adding milk until spreadable. Spread over the warm rolls.

TipTo bake in the morning, cover the cut rolls and refrigerate overnight, then let them sit out 45 minutes before baking.