Step 1

Heat milk, make sure it does not exceed 110°F. Add 1 teaspoon sugar, and 2 ½ teaspoons instant yeast or active dry yeast to the milk. Do this to make sure the yeast has not expired. Wait a few minutes to ensure the yeast is active, as it will get foamy.

Step 2

Using a stand mixer combine in the mixing bowl, mix milk, remaining 1/3 cup sugar, flour, melted butter, salt, and eggs. Mix to combine. Use the mixer to knead the dough with a dough hook for about 5 to 7 minutes. The dough will be very sticky, and that is ok. Grease a large bowl with non-stick cooking spray place the dough in the bowl. Spray some non-stick cooking spray on top of the dough, and cover the dough with a towel.

Step 3

Set the bowl in a warm place and allow the dough to rise until double, depending upon the temperature of your house, this could take between 60 to 90 minutes.

Step 4

When doubled, punch down the dough and let it rest for 5 minutes.

Step 5

In a medium bowl, combine the 8 tablespoons of butter, 1 cup of packed brown sugar, and the cinnamon. Mix with a mixer until this forms a paste. Set aside.

Step 6

Roll out the dough on a floured surface into a 15 x 20-inch rectangle. Evenly spread the brown sugar mixture over the dough.

Step 7

From the long edge, roll up the dough and pinch the edge to seal.

Step 8

Cut the dough into 12 slices.

Step 9

Spray non-stick cooking spray onto a baking sheet. Place the dough slices cut side down into the pan. The cinnamon rolls should not touch each other at all. Leave enough room for them to expand. Cover the baking sheet with a towel and allow the cinnamon rolls to rise for 30 minutes.

Step 10

Preheat the oven to 350°F.

Step 11

Bake the cinnamon rolls for 25 minutes, until the rolls are lightly golden brown and the center rolls are cooked through. Your time may vary, depending on how thick the rolls are. So start to check the cinnamon rolls for doneness, they may need 5 to 10 minutes more time.

Step 12

Remove browned cinnamon rolls from the oven.

Step 13

Allow the rolls to cool for about 10 minutes before spreading on the frosting.

Step 14

Make the icing: In a small bowl combine powdered sugar, salt, melted butter, vanilla, and orange extract. Stir to combine. Add 2 to 3 tablespoons of milk, you want to add just enough to make the icing spreadable. Spread icing onto the cinnamon rolls.