The Best Small Batch Cinnamon Rolls

Instructions

1. 1
   In a bowl, combine flour, sugar, salt, and yeast. Add milk, butter, egg yolk, and vanilla. Mix into a shaggy dough.
2. 2
   Knead dough on a floured surface for 5 minutes, until smooth. Place in a greased bowl, cover, and let rise in a warm spot for about 1 hour, until doubled in size.
3. 3
   Mix the brown sugar and cinnamon in a small bowl for the filling. Set aside.
4. 4
   Roll out dough into an 8x6 inch rectangle. Spread with softened butter. Sprinkle evenly with the cinnamon-sugar mix.
5. 5
   Roll up tightly from the long side and slice into 4 equal pieces.
6. 6
   Place rolls in a greased 6-inch round pan. Cover and let rise for 30 minutes, until puffy.
7. 7
   Bake at 350°F (175°C) for 22-25 minutes, covering with foil if rolls brown too quickly.
8. 8
   Beat glaze ingredients until smooth and spreadable. Add more milk for thinner glaze if desired.
9. 9
   Spread glaze over warm rolls and enjoy!