1 c whole milk
5 T unsalted butter, softened
1/2 tsp vanilla extract
1/3 c granulated sugar
1 packet active dry yeast
4 cups all purpose flour, plus more for rolling
1 tsp salt
1/2 c butter, melted
1/2 c granulated sugar
1/2 c brown sugar
1 1/2 Tbsp ground cinnamon
1/2 tsp ground nutmeg
8 oz cream cheese, softened
1/2 c unsalted butter, softened
4 cups powdered sugar
1 tsp vanilla extract
1/2 tsp orange extract
1 tsp grated orange peel
To prepared the dough, heat milk and butter in a small heatproof bowl in the microwave until warm. Stir in vanilla extract and sugar. Transfer milk mixture to the bowl of a stand mixer fitted with the paddle attachment. Sprinkle yeast on top of warm milk mixture and let rest for 2 minutes. Gently stir together. (Note: temperature of liquid should between 100-110 degrees when using Fleischmann’s and between 120-130 degrees for Red Star active dry yeast.)
Add 3 cups of the flour, salt, and egg. Mix on low until combined. Switch to the mixer’s dough hook. Add remaining cup of flour and knead dough for a few minutes until it pulls away from the bowl. If needed, add another tablespoon of flour to help all the dough completely pull away from the sides of the bowl. Spray a medium bowl with non-stick spray. Remove dough from mixing bowl.
Knead dough a couple of times by hand and then shape into a ball. Place in coated bowl and turn over to coat each side. Cover bowl with plastic wrap or a clean towel and let rise in a warm spot for 2 to 2 1/2 hours or until the dough doubles in size. If dough reaches top of the bowl, punch down.
For the filling, butter two 8 X 8 inch pans. Turn the dough out onto a lightly floured work surface. Keep extra flour handy to coat your rolling pin, hands and work surface if needed. Roll into a roughly 14 X 24 inch rectangular shape with the longest side closest to you. Roll so that the dough is almost 1/4 inch thick. Mix together granulated sugar, brown sugar, cinnamon and nutmeg in a small bowl. Drizzle melted butter on dough, spread around to coat, leaving about a 1/2 inch uncoated along the edges.
Sprinkle cinnamon-sugar mixture over top evenly. Starting from the side opposite you, roll dough tightly towards you to form a long cylinder of dough. At the end, pinch the seams together and turn so the long seam side is down. If needed, gently squeeze or shape the dough to help form more equal size cinnamon rolls.
Cut dough shape into 18 1-1/2 inch sections with a serrated knife and place nine cinnamon rolls in each pan. There will be a little space between each roll. Let rolls rise a second time in a warm spot for about 30 minutes.
Preheat oven to 375 degrees. Bake the rolls for 15-17 minutes.
For the frosting, while the rolls are baking, mix together the softened cream cheese and butter until well blended. Add in powdered sugar and extracts. Whip until creamy. Stir in grated orange peel. When rolls are fresh out of the oven, spread frosting generously while warm.