Cinnamon rolls

Quick Summary: These are classic, soft cinnamon rolls with a sweet cinnamon-sugar filling and a simple vanilla glaze.
Source: Traditional

>> servings: 2
-- Dough
In a #large bowl{}, combine @warm milk{1%cup}, @granulated sugar{1/4%cup}, and @active dry yeast{2.25%tsp}. Let sit for ~{5%minutes} until foamy.
Add @melted butter{1/4%cup}, one @egg{}, and @salt{1/2%tsp}. Whisk to combine.
Gradually add @all-purpose flour{3%cups} and mix with a #spoon{} until a shaggy dough forms.
Turn dough onto a floured surface and #knead{} for ~{8%minutes} until smooth and elastic.
Place dough in a greased #bowl{}, cover, and let rise in a warm place for ~{1%hour}, or until doubled in size.
 
-- Filling & Assembly
While the dough rises, prepare the filling. In a #small bowl{}, mix @softened butter{1/2%cup}, @packed brown sugar{3/4%cup}, and @ground cinnamon{1.5%tbsp} until it forms a paste.
Punch down the risen dough. On a lightly floured surface, #roll the dough{} into a 12x18 inch rectangle.
Spread the filling evenly over the dough, leaving a 1/2-inch border on one long edge.
Tightly roll the dough into a log, starting from the long edge opposite the clean border. Pinch the seam to seal.
Cut the log into 12 equal slices using a #sharp knife{} or unflavored dental floss.
Place the rolls cut-side up in a greased #9x13 inch baking pan{}.
Cover the pan and let the rolls rise for another ~{30%minutes} until puffy.
 
-- Baking & Icing
Preheat #oven{} to 375°F (190°C).
Bake the rolls for ~{20-25%minutes}, or until golden brown.
While the rolls are baking, prepare the icing. In a #medium bowl{}, whisk together @powdered sugar{1%cup}, @milk{2%tbsp}, and @vanilla extract{1/2%tsp} until smooth.
Let the rolls cool in the pan for about ~{10%minutes} before spreading the icing over them. Serve warm.