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Heat milk on stove just to boiling point. Remove from stove and add shortening, sugar and salt. Let cool until just warm. (About 10 minutes.)
In a small bowl add yeast to the 1/2 cup warm water and mix to dissolve. In a large mixing bowl add 1 cup of the flour, the cooled milk mixture, the yeast and the egg. Mix well with a spoon. Add the other 1 1/2 cups flour, mix and turn out onto a floured surface. Knead about 10 times until dough is not sticky, can add more flour if needed. Grease a large bowl or crock. (I just use Canola oil) Add dough and turn once so both sides will be oiled. Let rise about 1 1/2 hours in a warm place. (I just cover with a dish towel on the counter.)
After dough has doubled, punch down, remove from bowl and roll out to a rectangle about 17 inches by 9 inches.
Combine 1/2 cup brown sugar, 1/4 cup melted butter, and 1 teaspoon ground cinnamon. Brush or spread on the rolled out dough. If using nuts, add them. Roll dough up lengthwise. Cut in slices. Place in greased 9 x 13 baking dish.
Let rise till doubled. Bake in preheated 375 degree oven 30 to 40 minutes.
Mix together with wire whisk. Spread over cinnamon rolls. (Can do this while they are hot or once they have cooled).