Sunday Cinnamon Rolls – Simmer + Sauce

Ingredients

• For the Dough:
• 1 packet instant dry yeast
• 1/2 cup warm water
• 3 1/2 cups all-purpose flour
• 1/3 cup sugar
• Dash of salt
• 1/2 cup milk, warmed
• 1/3 cup butter, softened
• 1 egg
• For the Filling:
• 4 tablespoons unsalted butter, melted
• 1/2 cup, plus two tablespoons sugar
• 1 1/2 tablespoons ground cinnamon
• For the Glaze:
• 1 1/2 cups confectioner's sugar
• 2 tablespoons milk
• 1 teaspoon vanilla extract