2 packages yeast, (1/2-ounce or 2 scant tablespoons)
1/2 cup hot water
1 tablespoon sugar
1/2 cup butter
3/4 cup milk (warmed)
1/2 cup sugar
1 teaspoon salt
4 1/2 cups flour
1/2 cup butter, softened
1 cup brown sugar
1/4 cup granulated sugar
2 tablespoons cinnamon
1/2-pound powdered sugar
2-3 Tablespoons milk
1/2 t. vanilla
Dissolve 2 packages of yeast in 1/2 cup of hot water and 1 tablespoon sugar. Let sit until frothy and doubled in volume.
Melt the 1/2 cup of butter and combine with 3/4 cups of warm milk (can be warmed on stove or in microwave).
Using an electric mixer with a dough hook mix dissolved yeast and butter/milk mixture on low. Slowly add 1/2 cup of sugar, then 1 egg. Add salt and 2 cups of flour on low, blend until smooth. Slowly add 1/2 cup at a time, the other 2 to 2 1/2 cups of flour.
Put dough onto floured countertop. Knead dough until it doesn’t stick to your hands (Do not over kneed or add too much flour).
Place in a greased bowl. Cover with damp cloth and let rise for 45 minutes to 1 hour, until it doubles in size.
Remove from bowl and place on a floured counter. Roll out in a 12 by 24-inch (approximately) rectangle, not too thin.
Spread 1/2 cup of softened butter over dough evenly. Mix together brown sugar, granulate sugar, and cinnamon in a small bowl. Sprinkle over dough evenly.
Roll dough tightly into a log. Cut into thumb-width slices or 1 1/2-inch widths.
Place in round cake pan or foil pan. Let rise to desired height.
Preheat oven to 350 degrees.
Only bake on one rack, center of oven (4 pans fit nicely). Set timer for 15 minutes, or until golden.
Remove from oven, let cool.
Combine powdered sugar, 2 to 3 tablespoons of milk (this may vary, add or subtract to your desired consistency), and vanilla extract.
Mix in electric mixer with the whisk attachment until very smooth and drizzles easily.
Drizzle onto cooled cinnamon rolls. Serve.