Heat milk to 115°F. Dissolve yeast and 1 teaspoon granulated sugar in warm milk. Proof for 5-10 minutes.
Prepare a stand mixer with the dough hook attachment. In the bowl of a stand mixer, combine flour, remaining 1/4 cup sugar and salt. With mixer running on low, carefully pour in yeast mixture, followed by butter and vanilla. Add one egg at a time. Increase speed, mixing until dough comes together. If dough is still sticky, add additional flour, one tablespoon at a time until dough comes together in a smooth ball. Transfer dough to a large greased bowl. Cover and allow to rise in a warm location for at least 60 minutes or doubled in size.
Lightly grease a 9-inch round baking pan with baking spray. *See note
In a medium bowl, combine brown sugar and cinnamon.
On a silicone counter mat, roll out dough to a 12x18-inch rectable. Brush entire surface with melted butter. Sprinkle well with brown sugar-cinnamon mixture. Carefully cut dough lengthwise into 2-inch strips. Loosely roll up one 2x18-inch strip. Transfer to the center of the prepared baking pan. Cut remaining strips in half to create ten 2x9-inch strips. Remove one strips and wrap it around the rolled up dough in pan. Repeat with remaining dough strips until all have been wrapped together in the pan, to create a large cinnamon roll. Cover loosely and allow to rise in a warm location for at least 60 minutes.
Preheat oven to 350°F. Bake for 35-40 minutes. Cake may be glazed immediately for a super gooey option or allow it to cool for 20-30 minutes before drizzling glaze over the top.
To creat glaze, in a medium bowl, combine powdered sugar and vanilla. Add in milk to desired consistency. Less milk will create a thicker glaze to spread. A thinner glaze will pour easier. Pour or spread glaze over warm rolls.
Notes
Recipe serves roughly 6-10, yields 1: 9-inch cinnamon roll cake.*Do NOT use cooking spray or olive oil. Use a spray specific to baking that includes flour.An original recipe from Baked by Rachel
Nutritional information is provided as a courtesy and is an estimate only. Nutrition information can vary for a variety of reasons. For the most accurate data, use your preferred nutrition calculator with the actual ingredients you used to make this recipe.
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