Cinnamon Rolls with Icing

Cinnamon Rolls with Icing was pinched from <a href="http://www.epicurious.com/recipes/food/views/Cinnamon-Rolls-with-Icing-51160400" target="_blank">www.epicurious.com.</a>

"Nick Malgieri, the director of baking and pastry programs at The Institute of Culinary Education in New York City, created this recipe exclusively for Epicurious. The enriched yeast dough is a snap to make and even easier to shape into decadent, delicious cinnamon rolls. Best of all, the rolls can be baked ahead and reheated for a fresh-from-the-oven breakfast treat. For more on cinnamon rolls, including tips from Malgieri, see Classic Recipes: Cinnamon Rolls...."

INGREDIENTS
2/3 cup whole milk
2 (1/4-ounce) envelopes instant yeast (4 teaspoons total)
1/2 cup sugar
2 large eggs, at room temperature
3 cups unbleached bread flour
1 teaspoon fine sea salt or table salt
4 tablespoons (1/2 stick) unsalted butter, cut into 6 pieces and softened at room temperature
8 tablespoons (1 stick) unsalted butter, cut into small pieces and softened at room temperature, plus additional butter for greasing the pan and plastic wrap
3/4 cup packed light brown sugar
1 tablespoon ground cinnamon
2 teaspoons pure vanilla extract
2 tablespoons unsalted butter
1 cup confectioners' sugar, sifted after measuring
Special equipment: Instant-read thermometer, stand mixer fitted with a dough hook, 13- by 9-inch metal baking pan, parchment paper or foil
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