In a microwave safe bowl or over the stovetop, heat the water, milk, and butter to about 110°F to 115°F. Pour the mixture into the bowl of the stand mixer along with the dry ingredients along with the softened butter and egg.
½ cup water, ¼ cup whole milk, 3 tablespoons unsalted butter, 1 large egg
Using a dough hook, mix on a low setting until the dough comes together. If the dough is too wet, add remaining flour ¼ cup at a time to form a soft, smooth, elastic dough. Then continue to mix at low-medium speed for an additional 5 to 6 minutes. Next, allow the dough to rest in the bowl for 3 to 5 minutes.
After the dough rests, turn it out onto a lightly floured surface. Use a rolling pin to roll into a rectangular shape about ¼-inch to ½-inch thick.
To Make the Filling:
Use a spatula to spread the softened butter on the rectangle of dough. Sprinkle the brown sugar and cinnamon evenly over the softened butter.
½ cup unsalted butter, ½ cup light brown sugar, 1 tablespoon ground cinnamon
Beginning with the short side of the rectangle, tightly roll the dough so the cinnamon and sugar are on the inside. Use a sharp knife, dough scraper, or dental floss to cut the rolled dough into 12 even pieces.
Place the cut dough into the prepared baking dish and cover with a clean towel. Transfer the dough to a warm, draft-free place and allow it to rise until doubled in size. Meanwhile, preheat the oven to 350°F.
Once the cinnamon rolls have doubled in size, bake for 20 to 30 minutes or until golden brown.
Remove from the oven and allow the rolls to cool until just slightly warm before adding the icing.
For the Icing:
In a small bowl, whisk together powdered sugar, 1 to 2 tablespoons of milk, and vanilla. Add more milk until the desired consistency is reached.
1 cup powdered sugar, 2 to 3 tablespoons whole milk, 1 teaspoon pure vanilla extract
Use a spatula to smooth over slightly warm cinnamon rolls. Enjoy!
See post for tips, FAQs, and storage options.
Notes
*Environmental factors cause the amount of flour required to vary slightly by region. We've linked to a great resource in the tips section of the post.*We have not tried to substitute ingredients such as gluten-free flour, bread flour, almond milk, soy milk, etc. and cannot provide recommendations on the use of alternate ingredients.*The calories listed are an approximation based on the ingredients in the recipe card and a serving size of 1 cinnamon roll. Actual calories will vary.*Doubling or tripling this recipe has not been tested. Therefore, we can not guarantee the outcome of adjusting the ingredients.