Preheat oven on the lowest heat setting. Usually that is 170°F (77°C).
In a heatproof bowl, melt cold, cubed unsalted butter, brown sugar, vanilla extract, salt, and milk in the microwave for 1 minute. Stir and heat for another 30 seconds, continuing to stir until the butter melts and the sugar dissolves. The mixture should be warm, between 105°F - 115°F (41°C - 46°C). Set aside.
In your stand mixer bowl fitted with a paddle attachment, add 3 cups of bread flour, pour in the warm sweet butter, add yeast, and mix everything at low speed until combined. Incorporate 1 egg at a time & scrape down the side of the bowl in between each addition. Switch to a dough hook, add remaining bread flour & knead dough for 10 to 15 minutes until it is no longer sticky to the touch. **NOTE: Since stand mixer bowl sizes vary, you may have to knead this by hand or knead the dough in 2 separate batches.**
Add 1 tablespoon of vegetable or canola oil to a large bowl. Shape the dough into a ball, roll it in the oil to coat, and loosely cover with plastic wrap. Place a towel on top, turn off the oven, and put the bowl inside for 1 to 1½ hours. Keep the oven door closed during rising - no peeking!
To make the cinnamon rolls
Lightly punch down the dough to release air bubbles and transfer it to a floured counter. Sprinkle flour on top and roll it into a rectangle measuring 26 inches wide by 20 inches long and 1 cm thick, dusting the pin as needed to prevent sticking.
In a heat-proof bowl, melt cold butter in the microwave for 30 seconds. Mix in brown sugar, cinnamon, and salt. Spread the mixture evenly onto the dough, leaving a 2-inch gap closest to you for the seam when rolling. Start at the top and roll the dough into an even log. Cut the log in half for easier slicing into rolls, then brush the outside with melted unsalted butter.
Lightly mark each dough log with a knife and cut into 15 rolls using a long sewing thread or a sharp knife. Brush melted butter inside two 9x13-inch baking dishes, flip the rolls to keep the filling up, and place them in the dishes.
Place the baking dishes in the warmed oven for another 30 minutes to 1 hour to allow the cinnamon rolls to rise until doubled in volume. After the second rise, preheat the oven to 350°F (177°C) and bake each pan on the middle rack for 25 to 35 minutes, or until golden brown.
In a medium bowl, mix powdered sugar, whole milk & vanilla sugar (or extract). Glaze each cinnamon roll with 2 to 3 Tablespoons of icing. Remember that cinnamon rolls need to cool for 15 minutes before you add the glaze. Serve and enjoy!
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Notes
I struggle with making yeast dough. Do you have any tips?I have 6 tips on how to make foolproof yeast dough. You can read about it here or go to sweet2savoury.com/how-to/make-fool-proof-yeast-dough/How should I store cinnamon rolls?Cinnamon rolls should be wrapped individually with plastic wrap and stored in an airtight container. They will keep up to:
2 days at room temperature
7 days in the refrigerator
3 months in the freezer
What other types of glaze can I make?If you want added flavour, you can add a Tablespoon of coffee or espresso to the glaze. You can also make cream cheese frosting instead of a simple sugar glaze.Can I reduce the recipe?My recipe yields 15 rolls. You can reduce the recipe by half (except for yeast) if you want to make fewer rolls.