Deliciously gooey cinnamon rolls make a great treat any time of year.
Place the milk in a saucepan with a thick bottom. While stirring continuously, bring the milk to a boil and immediately remove from heat. Let cool down to 110° F.
Dissolve yeast in the milk.
In a stand mixer with dough paddle, mix butter, sugar, and salt until smooth.
Beat in eggs at medium-low speed.
Add liquid, then flour. With dough arm, mix another 4 minutes at medium-low speed.
Place dough in a bowl and let rise at about 80°F for about an hour and a half or until double in size.
Punch dough to remove air and place on floured surface. Roll out the dough with a rolling pin to about 1/4 inch thick.
Melt the butter and place at least half on the flattened dough.
Mix sugar remaining cinnamon and spread liberally over buttered dough. Pour remaining butter over as evenly as possible.
Roll the dough tightly by starting from the far side and rolling it towards you. You will likely lose some of the butter, sugar, and cinnamon mixture.
Cut the roll by starting in the middle. Then cut the two sides in the middle. Continue cutting until you have about 1 to 2-inch pieces.
Let rise another 1 to 2 hours or until doubled in volume.
Preheat oven to 375° F. Place rolls in the oven for 20 minutes, or until golden brown.
While cinnamon rolls are baking, combine the confectioner's sugar, butter, milk, and vanilla until well combined. Add milk slowly, use more or less to get a frosting like consistency.