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Warm milk, heavy cream, butter and honey until lukewarm, about 100 degrees to 114 degrees (this can be done over the stove or in the microwave).
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Pour the mixture into the bowl of your standing mixer fitted with the paddle attachment.
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Sprinkle yeast and granulated sugar over the mixture and allow to sit 5 minutes.
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Mix in eggs, vanilla extract and salt.
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Remove the paddle attachment and attach the dough hook.
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Add in 4 cups of flour and mix (with the dough hook) for about 5-7 minutes until the dough is smooth and tacky, but not sticky. If the dough is still sticky, add in the remaining 1/2 cup of flour (I like to add in only 1/4 cup at a time, because you don’t want the dough to be too dry).
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Turn out the dough onto a lightly floured surface and form into a ball (you can knead the dough a couple of times by hand, if desired).
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Place dough in an oiled bowl (I use baking spray to coat a glass bowl) and cover with a damp towel. Allow to rise (proof) in a warm place for about 30-45 minutes, or until it has about doubled in size.*
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Once the dough has doubled in size, turn the dough out onto a lightly floured surface and roll into a rectangle (about 20x15).
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With a knife or rubber spatula, spread butter over the dough, leaving a border of about 1/4” unbuttered.
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Mix brown sugar, granulated sugar and cinnamon together. Generously sprinkle the mixture over the butter.
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Roll the dough into the shape of a log, pinching the seams together (you roll the long side of the rectangle). Place the seam side down.
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With a sharp serrated knife, cut the dough into 12 equal pieces. (You can trim the edges of the dough first, if desired).
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Line a 13 x 9 baking dish with parchment paper and place the cinnamon rolls in the baking dish, spaced apart evenly.*
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Cover the unbaked cinnamon rolls with a damp towel and allow to rise 20-30 minutes, or until doubled in size.
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Preheat oven to 375 degrees.
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Before baking the rolls, drizzle 1/3 cup of heavy cream over the cinnamon rolls (about 1/2 Tbsp per roll).
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Bake for 15-20 minutes, or until cinnamon rolls are lightly golden brown. Allow them to cool about 4-5 minutes before icing.
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With a mixer (standing or hand mixer), mix cream cheese and butter together. Once combined, mix powdered sugar, salt and vanilla together until smooth.
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Spread cream cheese icing over the warm cinnamon rolls.
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Serve warm and enjoy!