Caramel Glazed Cinnamon Rolls

Instructions

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1. - For the cinnamon rolls: Stir together the warm milk, yeast, and 1 tablespoon sugar in large bowl. Let stand 5-10 minutes or until foamy. Add butter, 3 tablespoons sugar, egg yolks, vanilla and salt. Mix with electric mixer using dough hook on medium speed until combined. Gradually add bread flour, 1 cup at a time, and mix on medium speed until a smooth, elastic dough forms, about 5 minutes.
2. - Spray large bowl with vegetable pan spray. Form dough into a ball, place into bowl and cover with plastic wrap. Let stand in a warm place for 45 minutes or until doubled in size.
3. - For the filling: Stir together butter, sugar, bread flour and cinnamon in medium bowl until well-combined.
4. - Prepare a 13 in. x 9 in. pan with vegetable pan spray.
5. - Punch dough down and roll out to an 18 in. x 14 in. rectangle on floured surface. Spread filling onto dough and roll up from long end, as if for a jelly roll. Pinch seam to seal, trim ends, and cut into 12 equally-sized pieces.
6. - Place rolls into prepared pan; cover with plastic wrap and let rise 25-30 minutes or until doubled in size.
7. - Meanwhile, preheat oven to 350°F. Remove plastic wrap from rolls and bake 25-29 minutes or until golden brown. Cool in pan on wire rack while preparing glaze.
8. - For the glaze: Melt 1/4 cup butter in saucepan over medium heat. Add 1/2 cup brown sugar and ½ cup cream. Cook over medium-high heat until mixture reaches a simmer; cook for 1 minute, stirring constantly. Remove from heat and stir in 1 teaspoon vanilla and 1/4 teaspoon salt. Whisk in 1 cup confectioners' sugar until smooth.
9. - Pour glaze over warm rolls. Serve warm.