Start by heating your water and milk to 110 to 115 degrees. Add the yeast, stir it together and let it sit for 10 minutes to proof.
Add the butter, egg, sugar, flour, and salt. Mix for 4 to 5 minutes to combine until well incorporated.
Place dough into an oiled bowl, flip the dough over and cover. Allow dough to rise in a warm location for about 1.5 hours, or until doubled.
Remove dough and place on a flour covered work surface. Allow to rest for 10 minutes before rolling.
Roll dough into a 15″ x 18″ rectangle. Spread the softened butter over the top of the dough. Sprinkle the brown sugar, then the cinnamon evenly over the butter.
Starting at the top of the long side, roll the dough downward toward you. Make sure your finished roll is still 18-inches long.
Mark the dough every 1.5-inches, and slice with a very sharp knife.
Place in a 9 x 13 baking dish that has been lightly sprayed with cooking spray (with or without parchment paper). Cover and allow to rise until doubled in size, about an hour.
Preheat oven to 350 degrees. Place in oven and bake for 20 – 25 minutes, or until golden brown and cooked through in the center. Remove from the oven and place on a wire cooling rack.
For the Cream Cheese Icing
Beat the cream cheese until light and fluffy. Add the butter and beat until well incorporated. Gradually add the powdered sugar. Add the salt and vanilla, beat until fluffy.
Spread over warm cinnamon rolls.
For the Vanilla Icing
Whisk glaze ingredients together in a small bowl (I used 2 tablespoons for a thicker glaze). Add additional milk to achieve desired consistency.
Drizzle glaze over rolls in the pan, then serve.
Store leftover rolls in the refrigerator for up to 3 days.
Notes
I cover my dough with plastic wrap, then top with a dish towel when rising that way the towel does not stick to the top of the dough if it rises too high.
All ovens bake differently, times are suggestions based on my cooking time.
For overnight cinnamon rolls
After slicing the cinnamon rolls, place them in a parchment lined pan, cover well with plastic wrap then place them in the refrigerator overnight.
When you are ready to bake, place the cinnamon rolls on the counter to bring them up to room temperature and let them rise for 45 minutes to 1 hour before baking as directed.