Homemade Cinnamon Rolls

"There's nothing like the smell of Homemade Cinnamon Rolls baking in the oven, the spicy sweet combination is universal in appeal...."

INGREDIENTS
2 1/4 oz packets rapid rise yeast ((i.e. Two 1/4 oz packets))
1 1/3 cup milk (lukewarm (110°F))
1/4 cup granulated sugar
5 1/2 cups all purpose flour (plus additional for dusting)
1 tsp salt
4 Tbsp butter (melted)
1 large egg (beaten)
Filling:
4 Tbsp softened butter
1/2 cup granulated sugar
1 Tbsp ground cinnamon
1/8 tsp ground nutmeg
Icing:
1 1/2 cup confectioners sugar
1 tsp pure vanilla extract
3 Tbsp heavy cream (plus additional as needed to thin)
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