Cinnamon rolls baked separately are so much better than the traditional method. These muffins are filled with a cinnamon mixture and drizzled with a brown sugar glaze!
Prepare the dough. Combine the milk, 2 tablespoons butter, sugar, and salt. Stir until sugar is dissolved.
1 cup whole milk, 5 tbsp unsalted butter, ½ cup granulated sugar, 1 tsp kosher salt
Mix in egg and egg yolk.
1 large egg, 1 egg yolk
Add 1 cup of the flour mixed with the yeast. Add more flour until the dough is soft and pulls away from the sides of the mixer bowl. It can take slightly more or less flour.
3 ½ cups all-purpose flour, 1 tbsp instant yeast
Finish by adding the remaining 3 tablespoons soft butter, 1 tablespoon at a time until completely incorporated.
5 tbsp unsalted butter
Form dough into a ball and place in a greased bowl. Cover with plastic wrap. Place in a warm area for 30 minutes.
While raising, prepare the filling. Mix together the butter, brown sugar, and cinnamon, and set aside.
4 tbsp unsalted butter, ½ cup light brown sugar, 1 tbsp ground cinnamon
Grease a 12-cup muffin tin and set aside.
After the dough has rested 30 minutes, roll out on a floured surface to a roughly 12x18 rectangle.
Spread the filling mixture evenly, leaving a ¼-inch border. Tightly roll up and pinch seam. Cut into 12 equal portions and place in a prepared muffin pan. Rest rolls in a warm area for 30 minutes.
Preheat oven to 350°F.
After resting 30 minutes, bake the rolls in preheated oven 22-28 minutes. When done, the rolls will be puffed and golden brown.
Cool in pan for 10 minutes.
Prepare the frosting. Over butter over medium heat in a 4-quart saucepan and continue cooking until browned and nutty, 3-5 minutes. Remove from heat and add powdered sugar, vanilla extract, and whole milk. Whisk until smooth, adding more milk as needed.