For the icing (can be made ahead of time):Combine all frosting ingredients and blend together at low speed in standing mixer for 1 minute. Increase speed to high and mix until frosting is smooth and free of lumps, about 2 minutes. Transfer to small bowl and cover. Refrigerate until ready to use.
Cinnamon filling: Mix together the three filling ingredients in small bowl and set aside until ready to use.
Make the dough: Heat milk and butter in microwave or saucepan until about 100F. In bowl of standing mixer fitted with paddle, mix water, yeast, sugar, egg, yolks at low speed until mixed through. Add salt, warm milk mixture, and 2 cups flour. Mix at medium until blended, about 1 minute.
Switch to dough hook, add 2 more cups of flour, and knead at medium until dough is smooth and clears sides of bowl, adding 1 TB flour at a time (up to 1/4 cup), only as needed. Do not add too much; just until dough comes together and is smooth and soft.
Knead 10 minutes. Shape dough into a ball and place in lightly oiled large bowl. Cover with plastic wrap. Let rise in warm, draft free place until doubled in bulk. About 2 hours, but depends on room temp.
After dough has doubled, press/punch it down and place on lightly floured surface. Roll out to a rectangle, roughly 16x12, with the lengthier side facing you. Sprinkle cinnamon mixture evenly over the dough, leaving a half inch border at the far edge.
Roll the dough, starting with the long edge closest to you. Roll tightly but carefully until you reach the far edge. Moisten far edge with water and seal the roll well. Press on roll gently if needed, to make a uniform cylinder.
Grease a 13x9 baking dish and an 8x8 baking dish. Cut roll into 12 equal pieces using sharp knife, lightly oiled if needed. Place rolls evenly in baking dishes. Cover tightly with plastic wrap.
If baking the same day: Place rolls in warm, draft-free spot until doubled in bulk, approx. 2 hours, depending on room temperature. If baking the next morning: Place rolls in fridge to sit overnight - bottom of rolls may grow a bit wet, which is ok. The next morning, place rolls, still covered, in cool oven. With oven off, place a large pan of boiling water on the rack below. Let rolls gradually rise for about 30 minutes or until they look fluffy and almost doubled. Take rolls and pan of water out of oven. Preheat oven to 350F while rolls finish rising on the counter.
Bake at 350F for 20-25 min or just until golden brown on top. Watch carefully to be sure they don't over-bake. When done, invert rolls onto wire rack and cool 5-10 min.
Transfer to serving plate and spread on thin layer of icing or drizzle on with piping bag - I use a Ziploc bag with tiny hole cut at end. You can also spread icing on with a rubber spatula. Serve immediately, while still warm.
Notes
Warm your milk and butter together until it's about 100F – this helps activate the yeast and ensures your dough rises properly.
When mixing your dough, add the flour gradually – this is crucial for achieving that perfect soft and pliable texture we're after.
Let your dough rise in a warm, draft-free spot until it's doubled in size, which creates fluffier cinnamon rolls!
Roll out your dough on a lightly floured surface to prevent sticking, and roll it tightly from the long edge for a neat cinnamon swirl.
Cut your rolls with a sharp knife to get clean slices – if the knife sticks, a little oil can help it glide through the dough.
If you're planning ahead, you can refrigerate your shaped rolls overnight; just remember to let them rise until fluffy before baking.
Bake your cinnamon rolls until they're just golden brown – keep an eye on them so they don't over-bake and lose their softness.
Spread the cream cheese frosting on while the rolls are still warm so it melts into every delicious crevice.
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