Ingredients:
Dough:
1/4 ounce packet Rapid Rise yeast
1/2 C warm water
1/2 C scalded milk
1/4 C white sugar
1/3 C butter, melted
1 tsp salt
1 egg
4 C all purpose flour
Filling:
1/2 C butter, softened
3/4 C white sugar
2 T cinnamon
Icing/Glaze:
1 1/2 C powdered sugar
1 tsp vanilla
3-4 T milk
Preheat oven to 170 degrees.
In a small bowl, dissolve yeast in warm water and set aside. In a large stand mixer bowl with a dough hook attachment, mix together scaled milk, sugar, melted butter, salt, and egg. Add 2 cups of flour and mix until smooth. Add yeast mixture. Add in remaining flour and mix for 5-7 minutes to knead dough until smooth and elastic. Form dough into ball and place in glass bowl sprayed with non-stick cooking spray. Cover with towel and put in oven. Turn off oven as you just want for it to stay warm to help the dough rise faster. Let rise in oven until doubled in size, about 30 minutes.
When doubled in size, punch down dough. Roll out on a floured surface into a 15 by 9-inch rectangle. Spread softened butter all over dough. Mix sugar and cinnamon and sprinkle over buttered dough. Beginning at the 15-inch side roll up dough and pinch edge together to seal. Cut into 12 to 15 slices.
Turn the oven back on to 170 degrees. Coat the bottom of baking pan with butter and sprinkle with sugar. Place cinnamon roll slices slightly close together in the pan, cover with towel, and let rise until dough is doubled, about 30 minutes.
After the rolls have risen and are all touching, remove the towel. Increase the oven temperature to 375 degrees and bake for 15-18 minutes, or until golden brown on top.
While the cinnamon rolls are baking, you can make the icing/glaze. In a bowl, mix together the powdered sugar, vanilla, and 3 T of milk. Add more milk as needed until the glaze reaches desired consistency. Spread over warm cinnamon rolls and serve. I always serve some of the icing on the side since some of us really like it on thick. Enjoy!