In your mixer bowl, combine 2 cups of the flour, sugar, salt, and yeast. Mix and then add the milk, butter, and egg. Beat with your flat beater on low speed for 1 minute and then medium speed for 1 minute. Scrap the sides of the bowl with a spatula as needed.

Remove your flat beater and attach the dough hook. Add the remaining flour 1/4 cup at a time and knead for 3-5 minutes or until the dough is smooth and springy.

Grease a large bowl with cooking spray. Place the dough in the bowl and turn it to grease all sides. Cover the bowl with a kitchen towel and let rise in a warm place for 1 hour and 30 minutes or until the dough has doubled in size.

Remove the risen dough from the bowl and turn onto a lightly floured surface. Using a rolling pin, flatten the dough to a 15×10 inch rectangle.  Spread the melted butter over the flattened dough and sprinkle with the cinnamon and sugar filling.

Roll the rectangle up tightly starting with the longer side. Pinch the end of the roll to seal.  Slice the cinnamon roll dough into 15 rolls using a serrated knife or dental floss. Each slice should be approximately 1 inch in width.

Place each slice into a greased 13×9 baking pan. Cover with a kitchen towel and let rise for 30 minutes.

Preheat the oven to 350˚F while the rolls are rising. Uncover the rolls that have doubled in size and bake for 25-30 minutes.  Immediately spread with frosting.

In a small pan on the stovetop, melt the butter over low heat. Once melted remove from heat.  Stir in the powdered sugar and vanilla.

Add 1 Tablespoon of water and whisk until smooth.

Add to the top of your cinnamon rolls immediately after removing from the oven.