Is there anything better than the smell of fresh cinnamon rolls baking in the oven? How about fresh homemade cinnamon rolls with a delicious caramel glaze? Now you’re talking. Bake these for breakfast, brunch, Christmas morning or just because. You’ll be the family favorite once you learn to make these homemade cinnamon rolls glazed with caramel.
For rolls, stir together 1 1/3 cups warm milk, 2 packages yeast, and 1 tablespoon sugar in large bowl. Let stand 5-10 minutes or until foamy. Add 1/2 cup butter, 3 tablespoons sugar, 2 egg yolks, 1 teaspoon vanilla and 3/4 teaspoon salt. Mix with electric mixer using dough hook on medium speed until combined. Gradually add 4 cups bread flour, 1 cup at a time, and mix on medium speed until a smooth, elastic dough forms, about 5 minutes.
Spray large bowl with vegetable pan spray. Form dough into a ball, place into bowl and cover with plastic wrap. Let stand in a warm place for 45 minutes or until doubled in size.
For filling, stir together 1/2 cup butter, 1/3 cup sugar, 2 tablespoons bread flour and 2 tablespoons cinnamon in medium bowl until well-combined.
Prepare a 13 in. x 9 in. pan with vegetable pan spray.
Punch dough down and roll out to an 18 in. x 14 in. rectangle on floured surface. Spread filling onto dough and roll up from long end, as for a jelly roll. Pinch seam to seal, trim ends, and cut into 12 equally-sized pieces.
Place rolls into prepared pan; cover with plastic wrap and let rise 25-30 minutes or until doubled in size.
Meanwhile, preheat oven to 350°F. Remove plastic wrap from rolls and bake 25-29 minutes or until golden brown. Cool in pan on wire rack while preparing glaze.
For glaze, melt 1/4 cup butter in saucepan over medium heat. Add 1/2 cup brown sugar and ½ cup cream. Cook over medium-high heat until mixture reaches a simmer; cook for 1 minute, stirring constantly. Remove from heat and stir in 1 teaspoon vanilla and 1/4 teaspoon salt. Whisk in 1 cup confectioners’ sugar until smooth. Pour glaze over warm rolls. Serve warm.