Try this recipe for the yummiest cinnamon rolls you will EVER eat. Promise!
Start by warming milk and then adding yeast. Let sit for about 5 minutes.
In the meantime, combine sugar, butter, salt, eggs, & flour and mix well. (I use my stand mixer.)
Add yeast/milk mixture to flour mixture and mix. (Use the dough hook and mix well.) Dough will be sticky.
Spray a bowl with cooking spray and place dough in. and cover. Let dough rise for about 1 hour in a warm location. (Dough should approximately double in size.)
After dough has risen, lightly flour dough and surface and roll out till dough is about 1/4 inch thick.
Spread softened butter for filling over dough.
Sprinkle combined cinnamon and brown sugar filling over the buttered dough.
Start to carefully roll up the dough.
Using sewing thread or cotton string, place under dough about 1 inch from edge. Bring ends of string up and crossing over each other. This will enable the string to "slice through" the dough to create a perfect cinnamon roll circle.
Continue to use string to form cinnamon rolls. Place in greased pan, with cinnamon rolls slightly touching one another.
Cover pan and place in the fridge overnight. (If you want to skip this step, you will need to cover the rolls with a damp dish towel and let them rise for 30-45 minutes before baking them.)
In the morning, preheat oven to 350 degrees and bake for about 20 minutes. Make icing while cooking by combining all ingredients and mixing them with an electric mixer. (I like to make this the night before and put it in the fridge overnight with the cinnamon rolls. In the morning just heat it up for a few seconds in the microwave or let it sit on the stove top while it preheats so it can spread easily.)