Iced Cinnamon Rolls

Directions

1. 1
   For the dough:
2. 2
   In a stand mixer, add all the dough ingredients and mix until a smooth dough is formed. Place in a greased bowl, cover and let rise until doubled in size, about 1 1/2 hours.
3. 3
   For the filling:
4. 4
   Mix sugar and cinnamon until well combined. Set aside.
5. 5
   After dough has risen, turn it out onto work surface and roll into an 11x20 inch rectangle. Spread butter over dough, leaving a 1-inch border on the long end closest to you. Sprinkle with cinnamon sugar.
6. 6
   Starting with long end farthest from you, roll dough toward you and the uncovered border. Use a serrated knife to gently cut the log in half, then cut each side of the log into 6 equal pieces. There will be 12 rolls.
7. 7
   Place the buns in a lightly greased 9x13 inch pan and press down slightly on each roll. Cover rolls and let rise for 1 hour until puffy.
8. 8
   Preheat the oven to 350°F. Bake rolls for 20-25 minutes until golden brown. Remove from the oven and let cool until slightly warm before icing.
9. 9
   For the icing:
10. 10
    Mix milk and sugar until smooth. Either drizzle freehand over the cooled rolls, or place in a resealable bag, snip off the corner, and ice the rolls.
11. 11
    Recipe adapted from King Arthur's Flour Cookbook.