The Best Cinnamon Rolls

Microwave milk in a microwave-safe bowl until warm but not hot to the touch, 45 to 60 seconds. An instant-read thermometer should read about 105 degrees F (41 degrees C). Pour into the bowl of a stand mixer fitted with the dough hook.

Stir yeast and 1 tablespoon sugar into warm milk; let sit (proof) until foamy, about 5 minutes. Add 1/2 cup sugar, 6 tablespoons melted butter, eggs, and 1 teaspoon vanilla extract; beat until combined.

Add 4 cups flour, 1 teaspoon sea salt, and 1 teaspoon cinnamon; beat, starting on low speed and gradually increasing to high speed, until forms a large ball of smooth and slightly tacky dough. Add more flour, 1 tablespoon at a time, if dough seems too sticky, until forms a smooth ball.

Transfer dough to a floured surface; knead with your hands until smooth and elastic, 3 to 5 minutes. Form into a ball; place in a large, lightly oiled bowl and turn to coat. Cover the bowl with a warm, damp towel; let rise in a warm place until doubled in volume, about 1 hour.

Meanwhile, combine brown sugar, 6 tablespoons softened butter, and 2 1/2 tablespoons cinnamon in a small bowl; set filling aside.

Gently punch down dough and transfer to a large, floured work surface; roll into a 24x12-inch rectangle, about 1/4-inch thick. Spread filling over dough with greased hands or a greased spatula. Roll up dough; cut into 12 equal-sized rolls, about 2-inches long.

Line a 9x13-inch glass baking dish with parchment paper; lightly grease paper. Place cinnamon rolls into the prepared baking dish in 4 evenly spaced rows. Cover dish; let rise until nearly doubled in volume, about 30 minutes.

Preheat the oven to 350 degrees F (175 degrees C).

Bake in the preheated oven until golden brown, 18 to 20 minutes.

Meanwhile, beat confectioners' sugar, cream cheese, 1/4 cup softened butter, 1/2 teaspoon vanilla extract, and 1/8 teaspoon salt together in a bowl with an electric mixer until smooth; keep frosting at room temperature while rolls bake.

Spread frosting on warm rolls; cool before serving.