To make the dough: Weigh your flour; or measure it by gently spooning it into a cup, then sweeping off any excess. In a small bowl, mix together all of the dough ingredients then transfer it to a floured surface and knead by hand to form a smooth, soft dough.  
, Shape the dough into a ball, place it in a bowl, cover, and let it rise until puffy but not necessarily doubled in bulk, 45 to 60 minutes (depending on the warmth of your kitchen)., To make the filling: While the dough is rising, use a fork to whisk together the brown sugar, flour, cinnamon, and salt. Set aside. , Prepare the pan of your choice: Line a quarter- or half-sheet pan with parchment, or lightly grease a loaf pan, 8" or 9" square pan, or round pan., To assemble the small-batch cinnamon rolls: Transfer the dough to a lightly floured work surface and press it into a 4" x 10" rectangle. , Brush the surface of the dough generously with milk and then sprinkle the filling on top, covering all but a 1/2" strip along one short side. Press the filling gently to adhere. , Cut the dough in half lengthwise using a bench knife. You will now have two rectangles, approximately 2" x 10". , Starting with the filling-covered short end, roll one piece of dough into a log and pinch to seal. Stand the log up, exposing the swirl, and press down to create a shorter cinnamon roll. Transfer it to the prepared pan and repeat with the remaining piece of dough. , Cover the pan and let the rolls rise for 45 to 60 minutes. The dough will be puffy and shouldn’t bounce back immediately when gently pressed. While the small-batch cinnamon rolls are rising, preheat the oven to 375°F. , Bake the rolls for 15 to 18 minutes, until a digital thermometer inserted into the center of one roll reads 190°F. Rolls baked on a baking sheet will be golden brown in color, while rolls baked in a pan with higher sides will remain pale. Allow the small-batch cinnamon rolls to cool while you make the icing.  , To make the icing: In a small bowl, combine the confectioners’ sugar and milk until you reach your desired consistency. , Spread the icing evenly over the cinnamon rolls. Serve warm or at room temperature. , Storage information: Store any leftovers, covered, at room temperature for several days.