Cinnamon rolls are a classic American treat. They’re buttery, sweet and the flavor of cinnamon and a powdered sugar-based glaze make this a great breakfast addition with anything, especially coffee. The key is to make sure the dough rises in the bread machine and then has a good, second rise on a baking sheet before baking in the oven. If you don’t allow the time for a good second rise your rolls will be chewy and tough.
Add the ingredients to the bread pan in the order indicated in the ingredient list and select the dough setting.
When the Dough cycle has finished, turn dough out onto a lightly floured surface and roll into a 17x10 inch rectangle.
Spread the rolled out dough with 1/2 cup softened butter.
In a small bowl, stir together brown sugar, cinnamon, and pecans.
Sprinkle brown sugar mixture over dough.
Butter a 9x13-inch baking pan.
Roll up dough, beginning with long side.
Slice into 12 to 16 halt to one-inch slices; place in prepared pan. Let rolls rise in a warm place until doubled, about 45 minutes. The easiest way to do this is to cut the long, rolled up dough in half and divide those pieces in half until you have the number of rolls that you want.
Place the rolls in the baking pan on their sides and tuck them together.
Preheat oven to 350 degrees F (175 degrees C).
Bake rolls in preheated oven until browned, 15 to 20 minutes.
While the rolls are baking, prepare the glaze
Add the powdered sugar to a bowl and drizzle in the water and whisk until creamy and smooth. You may need to add more water or powdered sugar as you go, but do so sparingly.
Add the cream cheese and the butter and either use an egg-beater to finish the glaze or add the powdered sugar/water blend to a bowl for a countertop mixer. Continue to assess the glaze as you go. Remember, you’re going to be adding some milk at the end so don’t overreact if it appears a bit dry.
Add the vanilla and incorporate.
Slowly add the milk and assess the glaze. If it’s too loose, add some more powdered sugar. If it’s too dry, add more milk a few drops at a time. You want a thick, milky white glaze.
When you remove the cinnamon rolls from the oven, let them rest until warm and spread with the glaze. Serve.