Microwave milk for 20-30 seconds until it is warm to touch (not scalding). Add it to a bowl with the yeast, whisk, and rest for 10 minutes or until the mixture looks foamy
Add the rest of the dough ingredients to the same bowl. Use a large wooden spoon to mix everything and bring it into a dough
Lightly dust a clean work surface with flour. Turn the dough out onto the surface, then use clean hands to knead the dough with a push-pull motion for 8-10 minutes. You can use a cake scraper to keep the surface clean as the dough will be quite sticky to begin with
Keep kneading the dough until it is soft, smooth and stretchy
Transfer to a clean bowl sprayed with some oil, cover with cling wrap and rest in a warm place for 60-90 minutes until the dough doubles in size
In the meanwhile, prepare the filling by mixing softened butter with cinnamon, sugar and salt
Once the dough has risen, transfer it to a clean bench dusted lightly with flour. Using your hands and a rolling pin, roll it into a 12x14" rectangle
Use a spatula to spread the filling evenly across the rectangle
With the 12" side towards you, divide the dough into 6 strips (each strip will be 2" wide and 14" long)
Roll each strip tightly into a cinnamon roll, and transfer to a small eighth sheet pan lined with parchment paper
Once all 6 cinnamon rolls are shaped, let them rest in a warm spot for another 30-45 minutes until they look a bit more puffed up and spring back partly when gently poked
In the last 20 minutes of the wait, preheat your oven to 375F (conventional)
Right before putting the rolls in the oven, pour the heavy cream over them
Transfer to the oven and bake for 20-25 minutes until the rolls develop a light golden color and feel firm to touch
Remove from oven and let them rest as you make the frosting
For the frosting, place all ingredients in a large bowl and whisk with an electric mixer for 2-3 minutes until a smooth frosting forms
Spread the frosting over the rolls while they are still warm
Enjoy!
