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Weigh your flour; or measure it by gently spooning it into a cup, then sweeping off any excess.
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To make the dough: Combine 3 cups of the flour, the sugar, salt, and undissolved yeast in a large mixing bowl.
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Heat the milk, water, and butter until very warm (120°F to 130°F). The butter doesn't need to melt completely.
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Add the liquid ingredients to the flour mixture, along with the eggs.
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Beat for 2 minutes; the mixture will be soupy.
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Gradually beat in enough of the remaining flour to make a soft dough. In the winter, or under less humid conditions, you may not need all the flour; in the summer, or when it's humid, you'll probably use it all.
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Knead the dough until it's smooth, elastic, yet still quite soft, about 6 to 8 minutes. Cover it, and let it rest for 10 minutes. If you're using SAF Gold yeast, let the dough rest and rise for 60 minutes.
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To make the filling: Whisk together the sugar and cinnamon. Set it aside.
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Lightly grease two 9" x 13" pans; or a 9" x 13" pan and two 9" round cake pans.
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Divide the dough in half. Working with one piece at a time, pat/roll the dough into a 10" x 15" rectangle. It's a soft dough, and should handle easily.
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Spread with half the softened butter (2 tablespoons). Sprinkle with half the cinnamon sugar.
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Starting with a long side, gently roll the dough into a log, pinching the edge to seal as well as you can.
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Cut the log into 12 pieces (for larger rolls) or 15 pieces (for smaller rolls), and space them in the prepared pan.
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Repeat with the remaining dough and filling.
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Cover the pans, and let the rolls rise until they're nearly doubled, about 45 to 60 minutes. Towards the end of the rising time, preheat the oven to 350°F.
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Bake the rolls for 20 to 25 minutes, until they're golden brown. Remove them from the oven, and cool them for at least 20 minutes before frosting.
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To make the frosting: Combine the frosting ingredients, using enough milk to make a soft, spreadable frosting.
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Spread the frosting on the rolls. Serve immediately; or cover loosely, and serve later. Store well-wrapped, at room temperature, for several days; freeze for longer storage.