Classic Cinnamon Rolls

SUPPLIES & TOOLS:

• Rolls
• 2/3 cup warm milk (105°F)
• 1pkg (1/4oz) active dry yeast
• 2 Tbsp granulated sugar, divided
• 1/4 cup (1/2 stick) butter, softened
• 1 egg yolk
• 1/2 tsp Wilton® Pure Vanilla Extract
• 1/2 tsp salt
• 2 cups bread flour, plus more for dusting
• Filling
• 1/4 cup (1/2 stick) butter, softened
• 1/4 cup granulated sugar
• 1 Tbsp bread flour
• 1 Tbsp ground cinnamon
• Glaze
• 3/4 cup confectioners' sugar
• 1 Tbsp milk
• 9" non-stick bakeware pan
• Vegetable pan spray

DIRECTIONS:

1. For rolls, stir together warm milk, yeast, and 1 tablespoon sugar in large bowl. Let stand 5-10 minutes or until foamy. Add butter, remaining sugar, egg yolk, vanilla and salt. Mix with electric mixer using dough hook on medium speed until combined. Gradually add flour and mix on medium speed until a smooth, elastic dough forms, about 2-4 minutes.
2. Spray large bowl with vegetable pan spray. Form dough into a ball, place into bowl and cover with plastic wrap. Let stand in a warm place for 45 minutes or until doubled in size.
3. For filling, stir together butter, sugar, flour and cinnamon in medium bowl until well-combined.
4. Prepare a 9" pan with vegetable pan spray.
5. Punch dough down and roll out to a 12"x 10" rectangle on floured surface. Spread filling onto dough and roll up from long end, as for a jelly roll. Pinch seam to seal, trim ends, and cut into 8 equally-sized pieces.
6. Place rolls into prepared pan; cover with plastic wrap and let rise 25-30 minutes or until doubled in size.
7. Meanwhile, preheat oven to 350°F. Remove plastic wrap from rolls and bake 25-29 minutes or until golden brown. Cool in pan on wire rack while preparing glaze.
8. For glaze, stir milk into confectioners' sugar until smooth. Drizzle over rolls. Serve warm.