In a bowl, mix the yeast, sugar, and milk. Add the flour and mix until combined. Add the salt and softened butter, then stretch and fold (or coil fold) until the butter is fully incorporated.
Cover and let the dough rise for about 2 hours, or until doubled in size.
Roll the dough into a large rectangle. Spread the softened butter evenly over the dough, then sprinkle with the brown sugar and cinnamon.
Cut the dough into 6 long strips, then roll each strip into a cinnamon roll.
Sprinkle a little of the cinnamon sugar mixture into the bottom of the pan, then place the rolls on top.
Cover and let them rest for 15 minutes.
Mix a little milk with 1 tbsp melted butter, then spoon about 2 tbsp of the mixture over each cinnamon roll.
Bake at 350°F (175°C) for 25–30 minutes, or until golden brown.
As soon as they come out of the oven, cover them with a clean kitchen towel until warm. Whisk together the remaining softened butter, powdered sugar, and vanilla extract to create the frosting, then spread it on top.
Cook it hands-free.
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