These are the best Homemade Cinnamon Rolls in the world! Soft, fluffy and easy for anyone to make. Swirled with a delicious, gooey cinnamon sugar filling and topped with a classic cinnamon roll frosting!
Warm milk to around 110 degrees F. Make sure it isn't too hot and it should feel like warm bath water. I highly recomend using a food thermameter. Transfer the milk to a bowl of a stand mixer and add yeast. Whisk together until combined and then add sugar, egg, egg yolk and butter. Mix until well combined.
Add the flour, salt and cinnamon to the dough and mix in with a wooden spoon until dough begins to form. Place the mixing bowl on the stand mixer and knead the dough with a dough hook for about 8 minutes until a dough ball is formed, scrape down the sides of the bowl a few times. The dough will be slightly sticky but shouldn't stick to your hands. If it is too sticky add 2 tablespoons of flour. If you don't have a stand mixer you could use your hands and knead the dough on a well-floured surface.
Transfer the dough ball to an oiled bowl, cover with a warm damp towel and let dough rise for an 1 - 1 1/2 hours, or until it has doubled in size. The time will vary depending on the humidity and temperature in your home. To make your towel warm, place the damp towel in the microwave for 30 seconds.
After the dough has doubled in size, transfer to a well-floured surface and roll out to about 14x9 inch rectangle. Spread softened butter over the dough. Mix together the brown sugar and cinnamon in a small bowl and then sprinkle the mixture over the buttered dough. Gently press the cinnamon sugar mixture down with your hands into the buttered dough.
Tightly roll up the dough, starting at the 9 inch side. Cut into 9-10 even rolls and place the rolls on a lightly greased 9x9 baking pan or round 9 inch cake pan. Cover the rolls again and place a warm damp towel on top. Let rise for another 30-45 minutes. They will get a little puffy and rise a bit.
Preheat oven to 350 degrees F. Bake cinnamon rolls for 20-25 minutes or until just slightly golden brown on the edges. You want to under-bake them a little so they stay soft and gooey in the middle.
While the cinnamon rolls are cooling, add all of the frosting ingredients together and beat with an electric mixer until smooth, light and fluffy. Spread the frosting over cinnamon rolls and serve immediately. Enjoy!
*Make sure to check the blog post on all of my recipe notes, tips, tricks and more information about this recipe!