Ingredients:
2 3/4 cups all-purpose flour
3 tablespoons sugar
1 packet (2 1/4 teaspoons) instant yeast
1/2 teaspoon salt
1/2 cup water
1/4 cup milk
2 1/2 tablespoons unsalted butter
1 egg
Filling: 1/3 cup softened butter, 1 tablespoon cinnamon, 1/2 cup brown sugar
Glaze: 1 cup powdered sugar, 1-2 tablespoons milk, 1/2 teaspoon vanilla extract
Instructions:
Mix 2 cups flour, sugar, yeast, and salt.
Heat water, milk, and butter to about 120°F (49°C). Add to dry ingredients with egg. Mix in remaining flour to make a soft dough.
Knead for about 6-8 minutes, let rise until doubled.
Roll dough into a 15×9 inch rectangle, spread with butter, sprinkle with cinnamon and sugar. Roll up and cut into 12 slices.
Place in greased 9×9 inch baking dish, let rise again.
Bake at 350°F (175°C) for about 25-30 minutes.
Whisk glaze ingredients and drizzle over warm rolls.