CLASSIC CINNAMON ROLLS

Steps:

• Make the dough: Heat the water to 100 degrees F in a bowl in the microwave. (It should feel warm but not too hot.) Sprinkle the yeast and 1/4 teaspoon granulated sugar over the top and stir to dissolve. Let stand until foamy, about 5 minutes.
• Meanwhile, whisk the flour, milk powder, salt and the remaining 2 tablespoons granulated sugar in a large bowl and make a well in the center. Whisk the melted butter and egg yolks into the yeast mixture, then pour into the well and stir with a wooden spoon until the dough comes together into a shaggy ball.
• Turn the dough out onto a lightly floured surface, dust with more flour and knead, adding more flour as needed, until smooth but still slightly sticky, 2 to 3 minutes. Transfer the dough to a buttered bowl, turning to coat. Cover with plastic wrap and let rise in a warm place until doubled in size, 1 to 1 1/2 hours.
• Make the filling: Mix the granulated sugar, brown sugar and cinnamon in a small bowl. Turn out the dough onto a lightly floured surface, pat and roll out into a 10-by-18-inch rectangle. Spread the butter over the dough, leaving a 1-inch border on one long side. Sprinkle with the cinnamon sugar and lightly press into the butter. Brush the clean edge with water, then tightly roll up the dough into a log, starting with a long side and rolling toward the clean edge; pinch the seam to seal.
• Butter a 9-by-13-inch baking dish and lightly sprinkle with granulated sugar. Slice the dough log into 12 pieces and arrange cut-side up in the dish. Cover with plastic wrap and let sit at room temperature until doubled in size, about 1 hour, or you can refrigerate overnight, then in the morning let stand at room temperature 2 hours before baking.
• Preheat the oven to 350 degrees F. Uncover the rolls and bake until golden brown, 25 to 30 minutes. Let cool at least 15 minutes in the baking dish.
• Meanwhile, make the icing: Beat the cream cheese and butter with a mixer on medium speed until smooth. Add the confectioners' sugar and vanilla and beat until combined. Spread a thin layer on the warm cinnamon rolls; serve with the remaining icing.