Heat the milk in a small saucepan until it bubbles, then remove from heat. Mix in butter; stir until melted. Let cool until warm NOT hot.Note: 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 just warm, NOT hot.
In a large mixing bowl, combine 2 ¼ cup 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.
Cover the dough with a damp cloth and let rest for 10 minutes.
Meanwhile, in a small bowl, mix together brown sugar, cinnamon, softened butter. It should be the consistency of frosting.
Roll out dough into a 12x9 inch rectangle.
Spread dough with butter/sugar mixture. Roll up dough and pinch seam to seal. Cut into 12 equal size rolls and place in lightly greased baking sheet.
Cover and let rise until doubled, about 30 minutes.
Preheat oven to 375 degrees F.
Bake in the preheated oven for 20 minutes, or until browned.
While cinnamon rolls bake make the frosting. Mix ingredients together then beat until fluffy.
Let cinnamon rolls cool 10 minutes. Spread frosting over warm cinnamon rolls.
Video
Notes
How to reheat cinnamon rolls: Place a cinnamon roll on a microwave safe plate and microwave 5-8 seconds.