The Best Cinnamon Rolls

Pour milk into a microwave-safe bowl and heat in the microwave until warm but not hot to the touch 45 to 60 seconds. It should be about 105 degrees F (41 degrees C). Pour into the bowl of a standing mixer.

Add 1 tablespoon sugar and yeast to the warm milk. Stir and let sit (proof) until foamy about 5 minutes. Add 1/2 cup sugar melted butter eggs and vanilla extract; stir with a dough hook until combined.

Add 4 cups flour sea salt and cinnamon; stir with the dough hook starting on low speed and gradually increasing to high speed until a large ball of smooth and slightly tacky dough is formed. Add 1 tablespoon flour at a time if dough seems too sticky until a smooth ball is formed.

Transfer dough to a floured surface and knead with your hands until smooth and elastic 3 to 5 minutes. Form into a ball and place inside a greased bowl. Cover the bowl with a warm damp towel and let dough rise in a warm place until doubled in size about 1 hour.

While the dough is rising combine brown sugar softened butter and cinnamon for the filling in a small bowl until uniform throughout. Set aside.

Gently press the gas out of the dough and transfer to a large floured work surface. Roll the dough into a 24x12-inch rectangle about 1/4-inch thick. Spread the filling over the dough with greased hands or a greased spatula. Roll up the dough and cut into 12 equally sized rolls about 2-inches long.

Line a 9x13-inch glass baking dish with lightly greased parchment paper. Place cinnamon rolls in the prepared baking dish in 4 rows of 3 evenly spaced. Cover and let rise until nearly doubled about 30 minutes.

Meanwhile preheat the oven to 350 degrees F (175 degrees C).

Bake rolls in the preheated oven until golden brown 18 to 20 minutes.

While the rolls are baking beat together powdered sugar cream cheese softened butter vanilla extract and salt for frosting. Keep at room temperature while rolls bake.