Cinnamon Rolls

This was my first (and most likely last) time making cinnamon rolls from scratch. Although the method was relatively simple, it was quite time consuming. If you want to serve these for brunch, make sure you allow for plenty of time for the dough to rise!

Rolls
1 C warm fat-free milk (100-110*)
5 T. melted butter, divided
1/3 C granulated sugar, divided
1 package quick-rise yeast (available in the baking aisle)
3 3/4 C all-purpose flour
1 large egg, beaten
1/4 t. salt
Cooking spray
2/3 C packed brown sugar
1 1/2 T. ground cinnamon
1/3 C raisins

Icing
3 T. melted butter
2 T. half-and-half
1/2 t. vanilla extract
1 C powdered sugar

Combine the milk, 3 T. melted butter, 1 T. sugar, and yeast. Let the mixture stand 5 minutes. Add the egg and remaining sugar. Gradually stir in 1 C flour until combined. Let the mixture stand 10 minutes.

Add 2 1/2 C flour and salt to the milk mixture. Stir until a soft dough forms (it will be quite sticky). Turn onto a floured surface. Knead until the dough becomes elastic, about 6 minutes. Add small amounts to flour to prevent dough from sticking to hands.

Place dough in a large bowl coated in cooking spray, then turn to coat the top of the dough. Cover and let rise in a warm place, free from drafts, for 35 minutes or until doubled in size. Punch the dough down, then cover and let rise for an additional 35 minute or until doubled in size. Punch the dough down for a third down, then let rest for 5 minutes.

Combine the brown sugar and cinnamon a small bowl. Turn the dough onto a lightly floured surface. Roll the dough into an 18 x 11" rectangle. Brush the remaining 2 T. melted butter over the dough, and sprinkle evenly with the brown sugar mixture. Sprinkle the raisins evenly over the dough.

Beginning at one long side of the rectangle, roll up the dough tightly. Pinch the seam to seal, excluding the ends. Cut the roll into 18 equal slices, about 1" each. Arrange 9 slices, cut sides up, into two 8" square baking dishes coated with cooking spray. Cover and let rise for 35 minutes, or until doubled in size.

Preheat oven to 350*.

Uncover the rolls. Bake for 22 minutes until golden brown. Cool for 10 minutes on wire racks, still in the baking dishes. Turn the rolls onto the wire rack and let cool for an additional 5 minutes.

While the rolls cool, combine 3 T. softened butter and cream. Whisk to combine, then stir in vanilla. Gradually add powdered sugar, and stir until well-blended. Spread the icing over the rolls, and serve warm.