1. Make the Dough

• In a large mixing bowl, combine warm milk and instant yeast. Let it sit for 5 minutes until foamy.
• Add sugar, melted butter, egg, and salt. Mix well.
• Gradually add flour, 1 cup at a time, until a soft, slightly sticky dough forms.
• Knead the dough by hand or with a dough hook for 3–5 minutes until smooth and elastic.

2. First Rise (Quick Rise)

• Cover the bowl with a towel or plastic wrap and let the dough rest for 10 minutes in a warm place.
• Preheat your oven to 200°F (93°C), then turn it off—this creates a warm proofing space if needed.

3. Prepare the Filling

• In a small bowl, mix together brown sugar and cinnamon.
• Roll out the dough on a lightly floured surface into a 15×9-inch rectangle.
• Spread softened butter over the surface, then sprinkle evenly with cinnamon-sugar mixture.
• Add nuts or raisins if using.

4. Roll and Slice

• Roll up the dough tightly, starting from the long edge.
• Slice into 12 even rolls using a serrated knife or unflavored dental floss.
• Place rolls into a greased 9×13-inch baking pan.

5. Second Rise (While Oven Preheats)

• Place pan in the slightly warm oven (or leave on countertop covered) for 10–15 minutes while you preheat the oven to 375°F (190°C).

6. Bake

• Bake rolls for 18–22 minutes or until golden brown on top and cooked through in the center.
• If needed, cover with foil halfway through baking to prevent over-browning.

7. Make the Glaze

• While rolls bake, whisk powdered sugar, milk, and vanilla in a bowl until smooth.
• For a richer glaze, blend in cream cheese until fully incorporated.

8. Glaze and Serve

• Remove cinnamon rolls from oven and allow to cool for 5 minutes.
• Drizzle glaze generously over the warm rolls.
• Serve fresh and enjoy while soft and gooey.