Gingerbread Cinnamon Rolls

Ingredients

• ***For the dough:***
• 1 (0.25-ounce) package active dry yeast
• 1/2 cup milk, not skim, warmed to 110-115 degrees F
• 1/4 cup water, warmed to 110-115 degrees F
• 1/3 cup molasses
• 1/4 cup packed brown sugar
• 1 large egg, room temperature
• 2 tablespoons canola oil
• 1/2 teaspoon salt
• 3 1/2 cups all-purpose flour, plus more as needed
• ***For the filling:***
• 2 tablespoons sugar
• 1 teaspoon ground cinnamon
• 1/2 teaspoon ground ginger
• 1/4 teaspoon ground cloves
• 2 tablespoons butter, melted
• ***For the spiced glaze:***
• 1 1/2 cups confectioners sugar
• 1/2 teaspoon ground cinnamon
• 1/2 teaspoon vanilla extract
• 6 teaspoons milk, not skim, plus more as needed