Heat the milk in a small saucepan until it bubbles, then remove from heat. Mix in butter; stir until melted. You can also heat the milk and butter together in a microwave-safe bowl for 90 seconds. Stir until butter is completely melted. Cool until it is warm, NOT hot.
In a large mixing bowl, combine 2 ¼ cups of flour, yeast, sugar, and salt; mix well. Add water, egg, and the milk mixture; mix well.
Add the remaining flour, ½ cup at a time, stirring well after each addition. When the dough has just pulled together, turn it out onto a lightly floured surface and knead until smooth, 2-3 minutes. Place the dough back in the mixing bowl, cover with plastic wrap, and let rise for 1 hour.
Combine the granulated sugar, brown sugar, and cinnamon in a bowl. Melt the butter in a separate bowl.
Gently punch down the risen dough. Use a 1-tablespoon cookie scoop to portion the dough into pieces (or shape by hand). Note: You'll end up with 45-48 balls of dough. You can make them smaller if you'd like.
Dip each dough ball in melted butter, then roll in the cinnamon-sugar mixture until well coated. To make them quickly, dip multiple balls at once.
Place the coated dough balls in a greased 9x13-inch baking dish. Drizzle with any remaining butter and sprinkle with any remaining cinnamon/sugar mixture.
Cover and let rise for 30 minutes, or until puffy.
Preheat the oven to 350°F. Bake for 20–25 minutes, or until golden brown and baked through.
Whisk together the powdered sugar, melted butter, and milk until smooth.
Drizzle the frosting over the warm cinnamon roll bites and serve.
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Notes
I use a 1-tablespoon cookie scoop to portion the dough, but you can also pinch off pieces and roll them by hand.
Make sure the dough balls are well coated in melted butter and cinnamon sugar before placing them in the pan. This is what gives the bites their delicious buttery, caramelized coating.
The dough should be puffy after the 30-minute second rise before baking.
Bake just until the bites are golden brown and cooked through. Start checking around 20 minutes since oven temperatures can vary.
Drizzle the frosting over the bites while they're warm so it melts into all of the nooks and crannies.
These are best served warm, when the centers are soft and fluffy and the cinnamon-sugar coating is still slightly gooey.