Rolls
• Warm Milk (105°F) | - | 2/3 cup
• Active Dry Yeast | - | 1 package (1/4 ounce)
• Granulated Sugar | - | 2 tablespoons, divided
• Butter (softened) | - | 1/4 cup (1/2 stick)
• Egg Yolk | - | 1
• Vanilla Extract | - | 1/2 teaspoon
• Salt | - | 1/2 teaspoon
• Bread Flour | - | 2 cups, plus more for dusting

Filling
• Butter (softened) | - | 1/4 cup (1/2 stick)
• Granulated Sugar | - | 1/4 cup
• Bread Flour | - | 1 tablespoon
• Ground Cinnamon | - | 1 tablespoon

Glaze
• Confectioners’ Sugar | - | 3/4 cups
• Milk | - | 1 tablespoon

1. Make the rolls. Stir together warm milk, yeast, and 1 tablespoon sugar in a large bowl. Let stand 5-10 minutes or until foamy.
2. Add butter, remaining sugar, egg yolk, vanilla, and salt to bowl. Mix with a stand mixer using a dough hook on medium speed until combined.
3. Gradually add flour and mix on medium speed until a smooth, elastic dough forms, about 2-4 minutes.
4. Grease a large bowl with vegetable pan spray. Form dough into a ball, place into the bowl and cover with plastic wrap. Let stand in a warm place for 45 minutes or until doubled in size.
5. Prepare the filling. Stir together butter, sugar, flour, and cinnamon in a medium bowl until well-combined
6. Prepare a 9 in. round baking pan with vegetable pan spray.
7. Punch dough down and roll out to a 12-inch by 10-inch rectangle on a floured surface with a rolling pin.
8. Spread filling onto dough and roll up from the long end, as for a jelly roll. Pinch seam to seal, trim ends, and cut into 8 equally-sized pieces.
9. Place rolls into prepared pan; cover with plastic wrap and let the rolls rise for 25-30 minutes or until doubled in size.
10. Meanwhile, preheat oven to 350°F. Remove plastic wrap from rolls and bake 25-29 minutes or until golden brown. Cool in pan on a cooling rack while preparing glaze.
11. Make cinnamon roll glaze. Stir milk into powdered sugar until smooth. Drizzle over rolls. Serve warm.

1. Make ahead : after cinnamon rolls are assembled in the pan, wrap with plastic wrap and place in the refrigerator to rise overnight. In the morning, bring back to room temperature and bake for a quick and easy breakfast.
2. To freeze : assemble the rolls in the pan and cover with plastic wrap and then aluminum foil for up to 1 month. To bake, defrost in the refrigerator overnight then bring to room temperature in the morning and bake according to the recipe instructions.
3. If using all-purpose flour in place of bread flour, you may need to add a couple more tablespoons of flour so the dough is not too sticky.
4. If you don’t have a stand mixer, knead the dough by hand for about 5-10 minutes, or until smooth and elastic.
5. Try topping the rolls with cream cheese icing for a special treat