Mix 2 1/2 cups of flour, sugar, salt, and yeast until well combined. Set aside.
In the bowl of a stand mixer, add warm water, milk, and butter mixture to dry ingredients and the add egg.
Use a dough hook, mix on a low setting until the dough comes together. Add more flour if the dough is too sticky. Mix on medium for 5 to 6 minutes.
Place the dough onto a lightly floured surface and roll the dough in a rectangle 1/4 inch to 1/2 inch thick.
Use a spatula to spread softened butter on the rectangle of dough.
Sprinkle the cinnamon and brown sugar evenly over the softened butter.
Use a sharp knife, dough scraper, or dental floss to cut the rolled dough into 10-12 even pieces.
Place the cut dough into a greased 9 x 13-inch pan, and cover with a clean towel.
Bake on 350°F for 25 minutes or until golden brown.
Use a spatula to spread vanilla icing evenly over the warm cinnamon rolls. Serve immediately!
For more recipes, visit Berly's Kitchen!