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Melt butter in a large pot over low heat and then add the milk.
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When the mixture is lukewarm, remove from the heat. Add the dried yeast, whisking to incorporate.
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Mix the flour, sugar and salt in a large bowl.
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Pour the wet ingredients into the dry ingredients and using a wooden spoon mix well.
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Once the dough has taken shape, turn the dough onto a clean floured surface and knead for 6 minutes.
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Transfer the bowl to a floured bowl. Cover the bowl using a cling film and a towel and let it rise for 45 minutes in a warm dark place.
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Preheat the oven for 180°C.
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To prepare the filling: in a bowl beat the butter, light brown sugar and Cinnamon powder, until you have a smooth paste.
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When the dough has risen, punch it down the bowl. Turn out the dough to a well-floured surface and knead the dough lightly. Add extra flour when necessary, to lose the stickiness of the dough.
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Knead the dough and roll it out to a rectangular shape (about 1 inch thickness).
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Spread the cinnamon powder and sugar mixture on to the dough. Starting from the short end, roll up the dough into a roll.
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Cut the log into small pieces. Butter a non-stick baking tray and place the cut cinnamon rolls into the prepared tin.
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Bake the cinnamon rolls at 180°c C for 20-25 minutes.
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While the cinnamon rolls are baking; prepare the frosting. In a bowl, whisk together cream cheese, melted butter, milk and vanilla extract until a smooth consistency.
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Let the cinnamon rolls cool for 10 minutes.
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Drizzle the frosting over the cinnamon rolls.
Enjoy your meal!