Soft Homemade Cinnamon Rolls

Start the yeast mixture

Whisk the warm milk, 2 tablespoons of the granulated sugar and the yeast in a stand-mixer bowl fitted with a dough hook or paddle. Cover and leave for 5–10 minutes, until the surface is foamy. Without a stand mixer, use a large mixing bowl and a wooden spoon or silicone spatula for the dough; a hand mixer's beaters tend to catch the sticky mixture.

Mix the dough

Add the remaining ½ cup (100g) sugar and the dough butter. Beat on medium until the butter begins to break up. Add about 1 cup (125g) flour, the eggs and salt, then mix on low for 30 seconds. Scrape the bowl, add the remaining flour and mix on medium for about 2 minutes, until the dough comes together and pulls away from the sides. It should stay soft and slightly tacky. If it clings heavily to the bowl, add flour 1 tablespoon at a time. If it is dry or crumbly, add milk 1 teaspoon at a time, mixing after each addition.

Knead until elastic

Switch to the dough hook if needed and mix on low for 5 full minutes, or knead by hand on a lightly floured surface for 5 full minutes. If the dough becomes too sticky, add flour only 1 teaspoon at a time; too much will dry it out. The finished dough should feel smooth, supple and elastic, and a finger indentation should spring back slowly. For a second check, stretch a golf-ball-sized piece thin enough for light to pass through without tearing. If it tears before becoming translucent, keep kneading.

Let the dough rise

Lightly coat a large bowl with oil, butter or nonstick spray. Turn the dough in the bowl to coat it on all sides, then cover with plastic wrap or a clean kitchen towel. Leave at room temperature for 1½–2 hours, until doubled in size.

Prepare the baking pan

Grease the bottom and sides of a 9×13-inch glass or metal baking dish, or line it with parchment paper.

Roll out the dough

Punch down the risen dough to release the air. On a lightly floured surface, use a lightly floured rolling pin to make a smooth, evenly thick 12×18-inch rectangle. If the dough keeps shrinking back, cover it loosely and rest for 10 minutes before continuing.

Fill and shape the rolls

Spread the softened filling butter across the dough; soften it for a few seconds in the microwave if necessary. Mix the brown sugar and cinnamon in a small bowl and scatter evenly over the butter. Roll tightly into an 18-inch log. Sprinkle any escaped filling back onto the roll. Use a very sharp knife to cut 12 equal pieces, approximately 1½ inches wide, and arrange them in the prepared pan.

Let the shaped rolls rise

Cover the pan and let the rolls rise for about 1 hour, until puffy. For the overnight method, follow the refrigerated preparation note instead of this room-temperature rise.

Heat the oven

Preheat the oven to 350°F (177°C).

Bake and cool briefly

Bake for about 25–28 minutes, until the tops are lightly browned, rotating the pan halfway through. If the tops brown too quickly, loosely cover the pan with foil. Set the pan on a cooling rack for about 10 minutes while you prepare the icing.

Make the icing

Beat the softened cream cheese in a large bowl with a handheld mixer or a stand mixer fitted with a paddle or whisk, using medium speed until smooth. Add the confectioners' sugar, cream or milk, and vanilla. Mix on low for 30 seconds, then on high for 1 minute. Spread over the warm rolls and serve immediately.

Store leftover rolls

Cover frosted or unfrosted rolls tightly. Keep at room temperature for up to 2 days or refrigerate for up to 5 days.