Bakery-Worthy Cinnamon Rolls

Pour the warm milk into the bowl of a stand mixer or a large mixing bowl. Sprinkle the yeast over the surface and add a pinch of the granulated sugar. Let it sit for 5 to 8 minutes until the mixture is foamy and bubbly, which confirms the yeast is alive and active. If nothing happens, the milk was either too hot or too cold, or the yeast is expired. Start over with fresh yeast.

Add the remaining granulated sugar, melted butter, egg, and salt to the yeast mixture. Whisk to combine.

Add the flour 1 cup at a time, mixing with a dough hook on low speed (or stirring vigorously with a wooden spoon) until a soft, slightly sticky dough forms. The dough should pull away from the sides of the bowl but still feel tacky when you poke it. If it is too wet, add flour 1 tablespoon at a time. If it is too dry, add milk 1 teaspoon at a time.

Knead the dough on medium-low speed for 6 to 7 minutes (or by hand on a lightly floured surface for 8 to 10 minutes) until it is smooth, elastic, and springs back when poked with a finger.

Shape the dough into a ball and place it in a lightly greased bowl. Cover tightly with plastic wrap or a damp kitchen towel. Let it rise in a warm, draft-free spot for 60 to 75 minutes until it has doubled in size. A good spot is inside your oven with just the light on.

While the dough rises, prepare the filling. In a small bowl, mix together the dark brown sugar and cinnamon until evenly combined. Set aside.

Once the dough has doubled, punch it down gently to release the air. Turn it out onto a lightly floured surface and roll it into a rectangle approximately 16 inches wide by 12 inches tall, with the long side facing you. Keep the thickness as even as possible.

Spread the softened butter evenly over the entire surface of the dough, leaving a 1/2-inch border along the far edge. Sprinkle the brown sugar and cinnamon mixture evenly over the butter, pressing it in lightly with your hands.

Starting from the long edge closest to you, roll the dough up tightly into a log, keeping even tension as you go. When you reach the far edge, pinch the seam gently to seal. Position the log seam side down.

Using a sharp knife or unflavored dental floss, cut the log into 12 equal rolls, each about 1-1/3 inches wide. The dental floss method works well: slide a length of floss under the log, cross the ends over the top, and pull to slice cleanly without compressing the dough.

Grease a 9 by 13 inch baking dish with butter. Arrange the 12 rolls cut side up in the dish, spacing them about 1/2 inch apart (4 rows of 3). They will expand to fill the gaps. Cover with plastic wrap and let them rise for 30 to 40 minutes until they are puffy and the rolls are touching each other.

Preheat the oven to 350 degrees Fahrenheit during the last 10 minutes of the second rise.

Remove the plastic wrap and bake the rolls for 22 to 25 minutes until the tops are golden brown and the centers are cooked through. The internal temperature should reach about 190 degrees Fahrenheit. Do not overbake or the rolls will dry out.

While the rolls bake, make the cream cheese glaze. In a medium bowl, beat the softened cream cheese and 3 tablespoons softened butter together with an electric mixer until smooth and fluffy, about 2 minutes. Add the sifted powdered sugar, vanilla extract, 1 tablespoon milk, and pinch of salt. Beat on low speed until combined, then increase to medium-high and beat for 1 minute until the glaze is smooth and spreadable.

Remove the rolls from the oven and immediately spread the cream cheese glaze generously over the top while the rolls are still hot. The heat will melt the glaze slightly, letting it seep into every crevice and swirl. Let the rolls cool for 5 to 10 minutes before serving. Serve warm.