The Best Cinnamon Rolls

1 . Stage

Pour milk into a microwave-safe bowl and heat in the microwave until warm but not hot to the touch, 45 to 60 seconds. It should be about 105 degrees F (41 degrees C). Pour into the bowl of a standing mixer.

2 . Stage

Add 1 tablespoon sugar and yeast to the warm milk. Stir and let sit (proof) until foamy, about 5 minutes. Add 1/2 cup sugar, melted butter, eggs, and vanilla extract; stir with a dough hook until combined.

3 . Stage

Add 4 cups flour, sea salt, and cinnamon; stir with the dough hook, starting on low speed and gradually increasing to high speed, until a large ball of smooth and slightly tacky dough is formed. Add 1 tablespoon flour at a time if dough seems too sticky, until a smooth ball is formed.

4 . Stage

Transfer dough to a floured surface and knead with your hands until smooth and elastic, 3 to 5 minutes. Form into a ball and place inside a greased bowl. Cover the bowl with a warm, damp towel and let dough rise in a warm place until doubled in size, about 1 hour.

5 . Stage

While the dough is rising, combine brown sugar, softened butter, and cinnamon for the filling in a small bowl until uniform throughout. Set aside.

6 . Stage

Gently press the gas out of the dough and transfer to a large, floured work surface. Roll the dough into a 24x12-inch rectangle, about 1/4-inch thick. Spread the filling over the dough with greased hands or a greased spatula. Roll up the dough and cut into 12 equally sized rolls, about 2-inches long.

7 . Stage

Line a 9x13-inch glass baking dish with lightly greased parchment paper. Place cinnamon rolls in the prepared baking dish in 4 rows of 3, evenly spaced. Cover and let rise until nearly doubled, about 30 minutes.

8 . Stage

Meanwhile, preheat the oven to 350 degrees F (175 degrees C).

9 . Stage

Bake rolls in the preheated oven until golden brown, 18 to 20 minutes.

10 . Stage

While the rolls are baking, beat together powdered sugar, cream cheese, softened butter, vanilla extract, and salt for frosting. Keep at room temperature while rolls bake.

11 . Stage

Spread frosting on warm rolls. Let cool before serving.