To begin, combine the warm milk and yeast in your mixing bowl. Let it sit 8-10 minutes or until bubbly.
Add in the sugar, butter, salt, and eggs. Mix well.
Add in the flour and mix well.
Knead the dough for a couple minutes on a lightly floured surface until smooth.
Place the ball of dough in a clean bowl, cover, and let it rise an hour in a warm location or until doubled in size.
Preheat your oven to 400 degrees.
Combine the cinnamon and brown sugar for the filling in a small bowl.
Gently roll the risen dough out on a lightly floured surface into a rectangle about 21 x 16 inches.
Spread the butter over the dough. Sprinkle with the cinnamon sugar, edge to edge.
From a short side, roll the dough up and pinch the edges closed to seal.
You’ll need to slice this into 9 – 10 slices. Here’s a tip I learned in my 9th grade cooking class – take a piece of thread and slide it up under the end of the dough. Criss-cross the ends over the top like you are about to tie it closed and pull tight. The thread will cut straight through and give you a perfect slice!
Place the slices in a greased 9×13 baking dish.
Bake for 17-20 minutes, or until the rolls are golden.
Meanwhile make the brown sugar glaze.
In a saucepan, combine the sugar, brown sugar, butter, half & half, and salt.
Bring it up to a rolling boil and boil for a minute.
While stirring, add in a teaspoon of vanilla. Cook for another minute.
Cool a few minutes. Pour the warm glaze over the top of the rolls.
Enjoy!
Notes
For an alternate Cream Cheese Frosting - Beat together until fluffy: 1/2 c room temperature butter, 1 1/2 c powdered sugar, 1/4 c cream cheese, 1 tsp vanilla, pinch of salt. Spread on warm cinnamon rolls.