How to make homemade cinnamon rolls:
For the dough:
Place milk and butter in a microwave-safe bowl and microwave for 1 minute. Set aside.
Place sugar, egg and egg yolks, warm water and yeast in the bowl of a stand mixer fitted with a paddle attachment. Mix on low speed for one minute.
Add the warm milk/melted butter mixture to the bowl, along with salt and two cups of flour. Mix on medium for 1 minute
Add 2 more cups of flour, then mix for 30 seconds – 1 minute. You want the ingredients to be combined well.
Switch to the dough hook, and mix on medium-low for 10 minutes.
Note: if your dough is still sticking to the sides of your bowl, add a bit more flour. Only a tablespoon at a time, until the dough doesn’t stick.
Put the dough in a well-oiled bowl. Cover it with a dish towel and set in a warm place to rise for 2 hours
After two hours, lightly press down on the dough, then turn it onto a floured surface.
Roll the dough out into a rectangle, about 18 inches long and 12 inches wide.
Spread softened butter over the dough, then sprinkle with the cinnamon and brown sugar mixture. Press the mixture into the dough.
Roll the dough up, and cut into 1-inch pieces. Place the pieces into a greased 9×13 pan.
Cover with plastic wrap and let rise for one hour.
Bake rolls at 350 degrees for 25-30 minutes, depending on how hot your oven is. The rolls should be lightly golden on top.
While the rolls bake, make the glaze.
Whisk together powdered sugar, softened butter, vanilla, and hot water. Use as much hot water as needed for your desired consistency.
Pour the glaze over the warm cinnamon rolls. Enjoy!