Mix together the warm water and yeast. Let sit for about 10 minutes. You will see the yeast activate – tiny bubbles will form at the surface and the liquid will thicken slightly.
In a stand mixer with a paddle attachment, slowly combine yeast mixture with the remaining dough ingredients, milk through flour. Gradually add the flour 1 cup at a time until a soft dough is formed.
Place the dough in a well greased bowl and turn to coat. Cover tightly with plastic wrap. Allow to rise until about double in size – about an hour to an hour and a half.
Remove dough from bowl and knead for 1-2 minutes, adding flour so it doesn’t stick to your hands or the countertop. Roll out into large rectangle. The rectangle should be around 24”X15” but does not need to be exact.
Mix together filling ingredients. Spread the cinnamon filling over the top of your rolled out rectangle.
Roll up the dough, starting at the short end.
Slice your long roll into individual cinnamon rolls. Cut a long piece of dental floss and place it under your roll. Cross the floss on top of your roll and pull in opposite directions. You will get nice clean cut slices every time.
Repeat slicing until you have about 15-18 pieces. Place sliced rolls in a glass 9X13 casserole dish (sprayed with cooking spray). Make sure they are nice and snug. Cover with plastic wrap and let rise for another 30-60 minutes, or until almost doubled in size.
Bake in 375 F oven for 20-25 minutes or until the centers of the rolls are cooked through and the rolls are golden brown.
Notes
Cooking time will vary based on the size of your rolls. If the tops of your rolls are golden brown but the center is not done yet, cover the rolls with the foil so that they do not get over browned.
Mix together icing ingredients. Place icing on cinnamon rolls and serve warm.