Step 1

For the Dough: In a small bowl, dissolve yeast in warm water and set aside.

Step 2

In a large bowl, or the bowl of your stand mixer fitted with the paddle attachment, mix milk, sugar, melted butter, salt and egg. Add 2 cups of flour and mix until smooth. Pour in yeast mixture. Mix in remaining flour, 1/4 cup at a time, until dough is easy to handle. If mixture appears too dry, add 1 tsp. water at a time, mixing well after each addition.

Step 3

Knead dough in your mixer with the dough hook, or by hand on lightly floured surface, for 5 to 10 minutes. Place in a well-greased bowl, cover and let rise until doubled in size, usually 1 to 1 1/2 hours.*

Step 4

Once doubled in size, punch down dough. Roll out on a floured surface into a 15 by 9-inch rectangle.

Step 5

For the Filling and Baking: Combine melted butter, cinnamon and sugar, spreading all over dough. Beginning at the longest (15 inch) side, roll up dough and pinch edges together to seal. Cut into 12 to 15 slices.

Step 6

Coat a baking pan with nonstick cooking spray and sprinkle with sugar. Place cinnamon roll slices close together in the pan and let rise until dough is doubled, about 45 minutes.

Step 7

When ready to bake, preheat oven to 350 degrees F. Bake for 20-25 minutes, or until golden brown.

Step 8

For the Glaze: Mix butter, powdered sugar, and vanilla. Whisk in milk 1 tablespoon at a time until the glaze reaches desired consistency. (If you like a thinner consistency glaze, add more milk.) Spread over slightly cooled rolls.

Step 9

Enjoy!