¼ cup warm water (110 to 115 degrees)
½ cup warm milk (110 to 115 degrees) (preferably whole milk)
1 package active dry yeast
1/2 cup granulated sugar
1 large egg, beaten
½ cup unsalted butter, melted and cooled
1 teaspoon salt
3 to 3½ cups all-purpose flour ( I used 2 3/4 C of flour plus the flour to roll the dough to form a smooth ball)
½ cup unsalted butter, cold and cut into pieces
1 cup granulated sugar
3/4 cup brown sugar
1 tablespoon ground cinnamon
2 cups confectioners (powdered) sugar
1/4 cup unsalted butter, room temperature
1 teaspoon pure vanilla extract
2 to 4 tablespoons milk
In a large mixing bowl, combine warm water, warm milk and yeast; stir and let sit until yeast is dissolved, about 10 minutes. Add sugar, egg, melted butter, and salt; beat until mixture is smooth. Add 2 cups flour; stir until well mixed. Stir in enough remaining flour to form a soft dough.
Turn dough onto a lightly floured pastry board or some parchment paper and knead dough until smooth and elastic, about 5 minutes, adding additional flour 1 tablespoon at a time if dough is too sticky.
Place dough in a well greased bowl; turn dough over once to grease the top. Cover bowl with a small kitchen towel and let dough rise is a warm place until doubled in size, 1 to 2 hours.
Prepare one 13x9x2 inch oblong pan; lightly grease the pan with butter or spray
Punch dough down then turn onto a lightly floured pastry board or parchment paper; knead dough briefly, 4 to 5 times. Roll the dough into an 18 inch by 9 inch rectangle.
In a small bowl, stir together sugars and cinnamon. Add in pieces of cold butter and mix with a fork or pastry cutter until it resembles coarse sand. Sprinkle sugar cinnamon mixture evenly over dough to within ½ inch of the edges. Roll-up dough jelly-roll style, starting with a long side; pinch the seams together to seal. Slice dough into 1½ inch pieces and place about ½ inch apart in baking pan.
Cover and let rolls rise is a warm place until doubled in size, 1 to 2 hours.
Preheat oven to 375 degrees F.
Bake: Bake rolls 25 to 30 minutes, or until golden brown. Remove rolls from oven. Place pan on a wire cooling rack to cool.
In a small bowl, combine confectioners sugar, butter, vanilla, and enough milk to make a good spreading consistency. Spread icing onto still warm rolls.
For a thinner glaze: Mix 1 to 2 cups of powdered sugar with 1-2 tsp of milk and 1/2 tsp vanilla