Dissolve yeast in warm milk in a large bowl. Add 1/4 c. sugar, egg and 1/4 c. melted butter. Stir well. Let rest 5 minutes.
Stir 3 c. flour into yeast mixture. Add more flour as necessary to form a soft, but not sticky dough. Turn dough out onto a floured counter top. Knead dough 3 to 5 minutes. Place dough in a large bowl coated with cooking spray. Cover and let rise 40 minutes or until doubled.
Punch down dough. Let rest 5 minutes then turn out to a floured countertop and shape into a circle. Roll dough into a 15 x 9 inch rectangle. Spread with remaining 1/4 c. butter. Sprinkle with remaining 1/4 c. sugar and the cinnamon. Roll up, jelly roll style starting at the widest end. Cut into 12 slices, about 1 1/4 inch each. Place rolls in greased 9 inch round cake pans. Preheat oven to 375 F. Let rolls rise for about 30 minutes. Bake rolls for 15 20 minutes in oven. Frost with icing (3 Tbsp. melted butter, 2 Tbsp. milk 1 1/2 c powdered sugar, dash of salt and 1/2 tsp. vanilla.)
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