Homemade Gooey Cinnamon Rolls with Vanilla Icing

Soft, fluffy, gooey cinnamon rolls topped with sweet vanilla icing. Packed with tons of cinnamon-brown sugar-toffee-like flavors, these cinnamon rolls have never been easier to make at home from scratch. Learn how to turn the dough, the cinnamon roll filling, and the vanilla icing into the perfect breakfast or brunch for the holidays or any time of year!

📝 Ingredients

• 1 cup whole milk (warm)
• 1/3 cup granulated sugar
• 2 1/4 teaspoons instant dry yeast
• 2 large eggs (room temperature)
• 4 tablespoons unsalted butter (softened)
• 1 teaspoon salt
• 4 cups all-purpose flour (plus more for dusting)
• 3/4 cup dark brown sugar
• 1 tablespoon ground cinnamon
• 1/2 cup unsalted butter (melted)
• 2 cups powdered sugar
• 2-3 tablespoons whole milk
• 1 tablespoon unsalted butter (softened)
• 1 teaspoon vanilla extract

👨‍🍳 Instructions

1. 1Make the dough & let it rise. In the bowl of a stand mixer, add the warm milk then stir in the sugar and instant dry yeast. Allow it to sit for 2-3 minutes until foamy. Mix in the eggs, butter, and salt until combined. Switch to the dough hook, add flour, 1 cup at a time, and mix until a dough forms. If you don't have a stand mixer with a dough hook, you can mix and knead by hand, for about 2-3 minutes, until a dough forms. Cover the bowl with a kitchen towel and let it rest in a warm place for 1 hour until the dough has doubled in size.
2. 2Make the cinnamon rolls filling. In a bowl, mix together brown sugar and cinnamon until all is combined. Set aside. I prefer using brown sugar for this cinnamon sugar mixture instead of granulated sugar. Brown sugar gives these cinnamon rolls a more moist, sweet toffee flavor.
3. 3Roll out the dough. Spray a 9×13 glass or metal baking dish with nonstick cooking spray. Set aside. Lightly sprinkle your work surface with flour. Transfer the dough onto your work surface and roll it into an evenly thick rectangle making sure the long side is 18-inch long.
4. 4Add the cinnamon roll filling. Carefully brush the rectangle with melted butter. Sprinkle the cinnamon sugar mixture evenly over the melted butter.
5. 5Cut the dough into rolls. Roll the dough into an 18-inch log. Using a sharp knife, evenly cut the log into 12 rolls.
6. 6Let the rolls rise (again). Transfer the rolls to the baking dish. Cover the rolls with a kitchen towel and let them rise for 1 hour.
7. 7Bake the rolls. Preheat the oven to 350ºF. Bake the rolls for 25-28 minutes or until golden brown on top. At the 15-minute mark, cover the top of the rolls with aluminum foil to avoid them browning too much. Let them cool for 30 minutes before icing.
8. 8Make the icing for the cinnamon rolls. In a bowl, whisk together the powdered sugar, 2 tablespoons of milk, butter, and vanilla until smooth. For a thinner icing consistency, stir in 1 more tablespoon of milk.
9. 9Frost your rolls. After the cinnamon rolls have cooled, spread the icing on top of the cinnamon rolls, making sure each one is evenly coated with the icing. Slice, serve, and enjoy!