The Best Cinnamon Rolls

Warm the milk in a microwave-safe bowl until it reaches a temperature of 105 degrees F (41 degrees C), about 45 to 60 seconds. Pour into the bowl of a stand mixer fitted with the dough hook.

In the warm milk, stir in the yeast and 1 tablespoon of sugar. Allow it to sit and proof until foamy, approximately 5 minutes. Add 1/2 cup of sugar, 6 tablespoons of melted butter, eggs, and 1 teaspoon of vanilla extract; beat until well combined.

Incorporate 4 cups of flour, 1 teaspoon of sea salt, and 1 teaspoon of cinnamon. Begin beating on low speed, gradually increasing to high speed, until a large ball of smooth, slightly tacky dough forms. If the dough appears too sticky, add more flour, 1 tablespoon at a time, until a smooth ball is achieved.

Transfer the dough to a floured surface and knead for 3 to 5 minutes until smooth and elastic. Shape the dough into a ball, place it in a lightly oiled bowl, and turn to coat. Cover the bowl with a warm, damp towel and let it rise in a warm place for about 1 hour, or until doubled in volume.

While the dough rises, prepare the filling by combining brown sugar, 6 tablespoons of softened butter, and 2 1/2 tablespoons of cinnamon in a small bowl. Set aside.

Gently punch down the risen dough and transfer it to a large, floured work surface. Roll it out into a 24x12-inch rectangle, about 1/4-inch thick. Spread the prepared filling evenly over the dough using greased hands or a greased spatula. Roll the dough up tightly and cut it into 12 equal-sized rolls, approximately 2-inches long.

Line a 9x13-inch glass baking dish with parchment paper and lightly grease the paper. Arrange the cinnamon rolls in the prepared dish in 4 evenly spaced rows. Cover the dish and let the rolls rise until nearly doubled in volume, about 30 minutes.

Preheat the oven to 350 degrees F (175 degrees C).

Bake the cinnamon rolls in the preheated oven for 18 to 20 minutes, or until golden brown.

While the rolls are baking, prepare the frosting. In a bowl, beat together confectioners' sugar, cream cheese, 1/4 cup of softened butter, 1/2 teaspoon of vanilla extract, and 1/8 teaspoon of salt with an electric mixer until smooth. Keep the frosting at room temperature until the rolls are ready.

Once the cinnamon rolls are baked, spread the frosting generously over the warm rolls. Allow them to cool slightly before serving.