Easy Cinnamon Rolls From Scratch

These easy cinnamon rolls are perfect for yeast beginners because they only require 1 rise. You have a few options for toppings. The recipe below includes a simple cream cheese icing but we also love these with the coffee icing or vanilla icing thats included in the recipe Notes below.
Ingredients
Dough
2 and 34 cups 344g allpurpose flour spooned leveled
14 cup 50g granulated sugar
12 teaspoon salt
34 cup 180ml whole milk
3 Tablespoons 43g unsalted butter
2 and 14 teaspoons Platinum Yeast from Red Star or any instant yeast 1 standard packet

1 large egg at room temperature
Filling
3 Tablespoons 43g unsalted butter extra softened
13 cup 67g packed light or dark brown sugar
1 Tablespoon ground cinnamon
Cream Cheese Icing
4 ounces 113g fullfat block cream cheese softened to room temperature
2 Tablespoons 28g unsalted butter softened to room temperature
23 cup 80g confectioners sugar
1 teaspoon pure vanilla extract
Instructions
Make the dough Whisk the flour sugar and salt together in a large bowl. Set aside.
Combine the milk and butter together in a heatproof bowl. Microwave or use the stove and heat until the butter has melted and the mixture is warm to the touch about 110F43C no higher. Whisk in the yeast until it has dissolved. Pour mixture into the dry ingredients add the egg and stir with a sturdy rubber spatula or wooden spoon OR use a stand mixer with a paddle attachment on medium speed. Mix until a soft dough forms.
Transfer dough to a lightly floured surface. Using floured hands knead the dough for 35 minutes. You should have a smooth ball of dough. If the dough is super soft or sticky you can add a little more flour. Place in a lightly greased bowl I use nonstick spray cover loosely and let the dough rest for about 10 minutes as you get the filling ingredients ready.
Fill the rolls After 10 minutes