1. In a large mixing bowl for stand mixer combine all the dough ingredients using only 4 cups of flour to start. Mix with a flat beater until ingredients are blended. Switch to dough hook and knead the dough. If it seems too sticky add additional flour a tablespoon at a time until smooth. Knead for a total of 5-7 minutes. (If by hand, knead for about 10 minutes.) The dough should be smooth. Place the dough into a lightly greased bowl, cover the bowl with plastic wrap, and let dough rise until about doubled, 1 hour.

To form rolls:

1. Divide dough into 4 pieces. Roll each on a smooth counter or non stick baking mat. Roll into a rectangle approximately 8″ x 10 “.
2. Preheat oven to 350 F.
3. Brush dough with melted butter leaving a 1 inch space on one side. Combine brown sugar, and cinnamon. Sprinkle evenly over buttered dough.
4. Start rolling fairly tightly towards you to make a long even log. At last edge brush with milk and pinch to seal end. With seam side down using a serrated knife or dough scraper cut each log into 10-12 even pieces. Place in greased mini muffin pans or in 9″x 13″ pan. Bake for about 10-15 minutes.

For icing:

1. In a mixer cream sugar and cream cheese until combined. Add vanilla, milk and confectioners sugar and beat until light and fluffy. Spread or pipe over cinnamon rolls.