Step 1

Generously butter 2 cast-iron skillets or disposable foil cake pans.

Step 2

In a large bowl, whisk together the warm milk, melted butter, and sugar. The mixture should be just warm, registering between 100-110˚F (37-43˚C). If it is hotter, allow to cool slightly.

Step 3

Sprinkle the yeast evenly over the warm milk mixture and let sit for 1 minute.

Step 4

Add 4 cups (500g) of flour to the milk mixture and mix with a wooden spoon until just combined.

Step 5

Cover the bowl with a towel or plastic wrap and set in a warm place to rise for 1 hour.

Step 6

After 1 hour, the dough should have nearly doubled in size.

Step 7

Remove the towel and add an additional ¾ cup (95g) of flour, baking powder, and salt. Stir well, then turn out onto a well-floured surface.

Step 8

Knead the dough lightly, adding additional flour as necessary, until the dough just loses its stickiness and does not stick to the surface.

Step 9

Roll the dough out into a large rectangle, about ½-inch (1 cm) thick. Fix corners to make sure they are sharp and even.

Step 10

In a medium bowl, combine softened butter, brown sugar, and pumpkin spice mix, and stir well.

Step 11

Spread the mixture onto the rolled dough.

Step 12

Roll up the dough, forming a log, and pinch the seam closed. Place seam-side down. Trim off any unevenness on either end.

Step 13

Cut the log in half, then divide each half into 7 evenly sized pieces, about 1½ inches (4 cm) thick.

Step 14

Place 7 cinnamon rolls in each skillet or cake pan, one in the center, six around the sides. Cover with plastic wrap and place in a warm place to rise for 30 minutes.

Step 15

Preheat the oven to 350˚F (180˚C).

Step 16

To prepare the frosting, in a medium mixing bowl, whisk together powdered sugar, coffee, and milk until smooth.

Step 17

Remove the plastic wrap, then bake the cinnamon rolls for 25-30 minutes, until golden brown.

Step 18

While still warm, drizzle evenly with frosting.

Step 19

Enjoy!