For the dough:
¾ cup milk
4 tablespoons butter
3¼ cups all-purpose flour
2¼ teaspoons instant yeast
¼ cup white sugar
½ teaspoon salt
¼ cup water
1 egg
For the filling:
4 tablespoons butter
1 cup brown sugar, packed
1 tablespoon ground cinnamon
For the frosting:
4 ounces cream cheese, softened
4 tablespoons butter, softened
1 teaspoon vanilla extract
1 cup powdered sugar
You can make this recipe start to finish in about 90 minutes, but I’ve also made it countless times the night before to get overnight cinnamon rolls. If you want to start them at night, make them up to the point that you shape them. Cover tightly and refrigerate overnight. Straight from the refrigerator the next morning, place them into a warm oven to proof for about 45 minutes or so and then bake as stated in the recipe.
Warm the milk in a small saucepan just until it bubbles. Remove from heat and stir in butter until melted. Set aside to cool to lukewarm.
In the bowl of a stand mixer fitted with the paddle attachment, combine 2¼ cups of flour, yeast, sugar and salt. Add the water, egg, and milk mixture and continue mixing until combined. Add the remaining cup of flour in two batches, mixing well after each.
Once the dough comes together, switch to the dough hook knead on low speed until smooth, about 3-4 minutes. Alternately, you can knead by hand on a lightly floured surface. The dough is ready when it springs back after being lightly pressed. Cover with a warm, damp cloth and rest on the counter for 10 minutes.
While the dough is resting, make the filling. Place the butter in a small saucepan or skillet over medium heat. Swirl occasionally. Once the butter has melted, watch for it to foam and then change to a golden brown color, about the color of graham cracker crumbs.
Transfer to a medium bowl and cool slightly, then stir in the brown sugar and cinnamon.
On a lightly floured surface, roll out dough into a 12×9 inch rectangle, using your baking dish as a guide. Sprinkle the butter-sugar mixture over the dough, all the way to the edges, then press lightly so it will stick as you roll.
Starting with the edge closest to you, roll the dough tightly. Pinch the seam to seal. Using a serrated knife, cut the log into 12 equal sized rolls and place in a 9×13 baking dish. Cover with the towel you used earlier and let rise in a warm spot until doubled, about 30 minutes. *See my note if you’d like to stop here to refrigerate overnight.
Heat oven to 375º. Bake the rolls for 17-20 minutes, until golden.
While the rolls are baking, make the frosting. Combine the cream cheese and butter in a medium bowl. Beat with an electric mixer until smooth. Stir in the vanilla and mix again, then gradually add the powdered sugar. Beat on high speed until creamy.
Let the rolls cool slightly before spreading the frosting evenly over the tops. Serve warm.
Rolls can be refrigerated and warmed in the microwave, even if they’re frosted, but they’re definitely best the first day. If you want to fully bake the night before, I recommend baking and leaving them unfrosted. Cover with foil and warm in a 350º oven for no more than 10 minutes and then frost.