Cinnamon Roll Recipe

I originally found this in Bon Appetit Magazine, but I made a few changes so they come out how we like them.

Dough:

1 cup milk

3 tablespoons butter

3 1/2 cups (or more) flour

1/2 cup sugar

1 egg

2 1/4 tsp rapid rise yeast (from two envelopes)

1 tsp salt

non-stick spray

Filling:

3/4 cup packed brown sugar

3 tablespoons cinnamon

1/2 stick butter

Icing:

1 cup powdered sugar

2 tsp vanilla extract

2 tablespoons (or more) of milk

For Dough:

Combine milk and butter in glass measuring cup.  Microwave until butter melts and mixture is warmed to about 120 or 130 degrees, about 45 seconds.  Pour into bowl of stand mixer fitted with paddle attachment.  Add in 1 cup flour, sugar, egg, yeast, and salt.  Beat on low for 3 minutes, occasionally scraping the bowl.  Slowly add in 2 1/2 cups flour, scraping down the sides of the bowl.  If dough is very sticky add in a little more flour, a tablespoon at a time.  I have found I have to use 2 additional tablespoons.  Turn dough onto lightly floured surface and knead for 8 minutes.  (This is a very effective arm workout).  Put into large bowl that has been oiled with non-stick spray, turning once to coat.  Cover with plastic wrap and then kitchen towel, leaving in a warm place to rise for about 2 hours.

For Filling:

Mix brown sugar and cinnamon in bowl.

Punch down dough.  Transfer to floured surface and roll out to 15x11 inch rectangle.  If you can actually get yours to a rectangle, you are a genius, mine ends up more rounded, but it still works.

Rub the 1/2 stick of butter over the dough leaving a 1/2 inch gap along the border.  Sprinkle cinnamon and brown sugar mixture over the dough.  Starting at one long end, roll dough up into a log, pinching as you go along to keep it tight.  Cut, seam side down, into 18 equal pieces. 

Spray a 9x13 pan with non-stick spray.  Put rolls in cut side up, there will be no space between rolls.  Cover with plastic wrap and kitchen towel.  Let rise in a warm area until doubled in size, about 40 minutes. 

Bake at 375 for 18-20 minutes or until golden brown.

For Glaze:

Combine powdered sugar, vanilla, and milk in small bowl.  Mix with a fork until smooth.  It should be pretty thin in consistency, if it isn't add a very small amount of milk at a time.

Drizzle over hot rolls fresh out of the oven and enjoy!