Step 1: Proof the Yeast: Warm 1 cup milk to 105-110°F. Add the 1 packet yeast and 1 teaspoon of the sugar. Let it sit 5-10 minutes until foamy and fragrant. If nothing happens, your yeast is dead, or the milk was too hot, start over.
Step 2: Make the Dough: In a stand mixer with a dough hook, combine the remaining sugar, ⅓ cup melted butter, 1 teaspoon salt, 2 eggs, and 4 ½ cups flour. Mix on low until crumbly. Add the proofed yeast mixture and mix on medium-low for 6-8 minutes until a soft, slightly sticky dough forms. The dough should pull away from the bowl sides but remain tacky. If too wet, add 1-2 tablespoons more flour.
Step 3: First Rise: Lightly oil a large bowl. Form dough into a ball and place in the bowl, turning to coat. Cover with a kitchen towel or plastic wrap. Let rise in a warm spot for 1-1.5 hours until doubled in size.
Step 4: Prepare the Filling: Mix 1 cup brown sugar and 3 tablespoons cinnamon in a small bowl. Grease a 9x13-inch baking dish.
Step 5: Roll and Fill: Punch down the dough. On a lightly floured surface, roll into a 17x14-inch rectangle about ¼ inch thick. Spread the softened butter evenly over the dough, leaving a ½-inch border on one long edge. Sprinkle the cinnamon-sugar mixture over the butter.
Step 6: Shape the Rolls: Starting from the long edge opposite the border, tightly roll the dough toward you. Pinch the seam to seal. Using a sharp knife or dental floss, cut into 10 equal slices (about 1.5 inches each). Place cut-side up in the prepared pan.
Step 7: Second Rise: Cover the pan with a towel and let rise 30 minutes until puffy and nearly doubled.
Step 8: Bake: Preheat oven to 350°F. Bake 20 minutes until golden brown and bubbly. The internal temperature should reach 190°F. Don't overbake or they'll dry out.
Step 9: Make the Frosting: While rolls cool slightly, beat 6 tablespoons butter, 1 ½ cups powdered sugar, ¼ cup cream cheese, and ½ teaspoon vanilla until smooth and creamy.
Step 10: Frost and Serve: Spread frosting generously over warm (not hot) rolls. Serve immediately for maximum gooeyness.
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Notes
Yeast type: Active dry yeast requires proofing. Instant yeast can be mixed directly into dry ingredients, though proofing still works.
Flour measuring: Spoon flour into measuring cups and level off. Don't scoop directly from the bag (it packs too much flour). Better yet, use a scale: 4½ cups = 563 grams.
Milk temperature: Use a thermometer for accuracy. Too hot kills yeast; too cold prevents activation.
Rolling thickness: Consistent ¼-inch thickness ensures even baking and uniform rolls.
Hand mixing option: Possible but requires 10-15 minutes of vigorous kneading. The dough should be smooth and elastic.