Classic Cinnamon Rolls

Ingredients

• For the dough
• 3/4 cup milk, warmed to 110°F
• 1/2 cup granulated sugar (1 tbsp of it goes in with the yeast)
• 2 1/2 tsp active dry yeast
• 1/2 cup Greek yogurt or sour cream, room temperature
• 1/2 cup salted butter, very soft (almost melted)
• 2 eggs, room temperature
• 1 tsp vanilla
• 4 1/2 cups bread flour (or all-purpose), spooned and leveled
• 1 tsp salt
• For the filling
• 1/2 cup salted butter, softened
• 1 cup light brown sugar
• 2 tbsp cinnamon
• 1 tsp vanilla
• 1/2 cup heavy cream, for pouring over
• For the frosting
• 8 oz cream cheese (1 block), softened
• 1/4 cup salted butter, softened
• 1 3/4 cups powdered sugar
• 1 tsp vanilla

Steps

1. Wake up the yeast. Stir 1 tbsp of the sugar into the warm milk (it should feel like a warm bath, not hot), sprinkle the yeast on top, and let it sit 5 to 7 minutes until foamy. With instant yeast, skip the wait.
2. Mix the dough. Whisk the flour and salt together. In a stand mixer with the dough hook, add the yeast mixture, the rest of the sugar, yogurt, butter, eggs, vanilla and the flour. Mix on low for 1 minute, then let it rest 5 minutes.
3. Knead. Mix on medium for 5 to 7 minutes until smooth, stretchy and pulling away from the bowl. It should stay a little sticky, so only add flour 1 tbsp at a time if it's really wet.
4. First rise. Move the dough to a greased bowl, cover, and let it rise somewhere warm for 30 to 45 minutes. It won't double, and that's what you want.
5. Make the filling. While it rises, mix the butter, brown sugar, cinnamon and vanilla until smooth. Grease a 9x13 pan.
6. Roll and cut. On a floured counter, roll the dough into a 16 by 15 inch rectangle. Spread the filling almost to the edges, roll it up tight from the 16 inch side, and cut 8 rolls about 2 inches wide with a sharp knife or unflavored floss.
7. Second rise. Set the rolls in the pan, cover, and let them puff for 25 to 30 minutes. Heat the oven to 350°F.
8. Bake. Warm the heavy cream for 15 seconds and pour it over the rolls. Bake at 350°F for 22 to 24 minutes, then turn the oven up to 375°F for 5 to 7 more minutes, until golden and cooked through.
9. Make the frosting. While they bake, beat the cream cheese and butter until fluffy, then beat in the powdered sugar and vanilla.
10. Frost and serve. Let the rolls rest 10 to 15 minutes, spread the frosting over them while they're warm, and serve.