Heat milk to 115°F. Dissolve yeast and 1 tsp granulated sugar in warm milk, allow to proof for 5 minutes.
In the bowl of a stand mixer, with dough hook attachment, combine flour, remaining 1/4C sugar and salt. With mixer running on low slowly pour in yeast mixture. Mix in butter and vanilla, followed by 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 to a larged greased bowl. Cover and allow to rise in a warm location until doubled in size, roughly 1 hour.
Prepare a 9x13-inch pan with parchment paper or grease well with baking spray.
In a small bowl, mix together brown sugar and cinnamon.
On a silicone counter mat, roll dough into a 10x20-inch rectangle. Brush with melted butter and sprinkle with brown sugar and cinnamon mixture. Starting at a short end, begin tightly rolling the dough, pinching ends as you roll. Pinch seams together to seal well. Slice into 6 equal pieces. Place in prepared baking sheet, cover loosely and allow to rise in a warm location for one hour or until doubled in size.
Preheat oven to 350°F.
Bake rolls for 25-30 minutes or until center reaches 200°F. Allow cinnamon rolls to cool partially before icing.
In a medium bowl, beat together powdered sugar with maple syrup. Add in water to desired icing consistency. Pour or spread glaze over warm cinnamon rolls.
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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