Cinnamon Rolls

Mix the dough

Stir the warm milk, yeast, and granulated sugar together in the bowl of a stand mixer and let it sit for 5 minutes until it looks foamy. Add the melted butter, egg, salt, and flour. Mix with the dough hook on low speed until a shaggy dough forms, then knead on medium speed until it is smooth, elastic, and pulls away from the sides of the bowl, about 6 to 8 minutes. It should still be slightly tacky to the touch. By hand, knead on a floured counter for about 10 minutes.

Let the dough rise until doubled

Shape the dough into a ball and set it in a lightly oiled bowl. Cover with plastic wrap or a damp towel and leave in a warm spot until doubled in size, about 1 to 1 1/2 hours. A finger poked into the dough should leave a dent that fills back slowly.

Roll and fill

Butter a 9 by 13 inch baking pan. Punch the dough down and roll it on a floured counter into a 12 by 18 inch rectangle. Spread the softened butter over the whole surface, leaving a 1/2 inch bare strip along one long edge. Stir the brown sugar and cinnamon together and scatter evenly over the butter, pressing it in lightly.

Roll up and slice

Starting from the long edge with filling, roll the dough into a tight log and pinch the bare edge to seal. Cut the log into 12 even pieces with a serrated knife or a length of unflavored dental floss slid under the log and pulled across. Set the rolls cut side up in the pan with a little space between them.

Rise a second time

Cover the pan loosely and let the rolls rise until puffy and touching one another, about 45 minutes to 1 hour. Heat the oven to 350F (175C) during the last 15 minutes.

Bake until golden

Bake for 22 to 28 minutes. The rolls are done when the tops are golden brown, the center roll feels springy rather than doughy when pressed, and an instant-read thermometer in the middle reads 190F (88C). Tent with foil if the tops brown before the centers set.

Ice while warm

Beat the cream cheese and softened butter together until smooth, then beat in the powdered sugar and vanilla. Let the rolls cool for 10 minutes, then spread the icing over the top so it melts into the swirls.

Make ahead. After slicing, cover the pan and refrigerate overnight. In the morning let the rolls sit at room temperature for 45 to 60 minutes until puffy, then bake as written.