Perfectly Pillowy Cinnamon Rolls

"Big, super-soft cinnamon rolls packed with flavor...."

INGREDIENTS
1/2 cup (113g) whole milk
3 tablespoons (23g) King Arthur Unbleached Bread Flour
2/3 cup (151g) whole milk cold
2 1/2 cups (300g) King Arthur Unbleached Bread Flour
1 teaspoon salt
2 tablespoons (25g) granulated sugar
2 teaspoons instant yeast
4 tablespoons (57g) unsalted butter softened
1 tablespoon (14g) butter melted
1/2 cup (107g) light brown sugar packed
2 tablespoons (15g) King Arthur Unbleached Bread Flour
4 teaspoons (10g) cinnamon*
1/16 teaspoon (pinch) salt
3 tablespoons (42g) butter melted divided
1/2 teaspoon vanilla extract
1/16 teaspoon (pinch) salt
1 1/2 cups (170g) confectioners' sugar sifted
1 to 2 tablespoons (14g to 28g) milk cream or buttermilk; enough to thin to desired consistency
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