Perfectly Pillowy Cinnamon Rolls

Ingredients

• 0.50 cup milk
• 3 tablespoons bread flour
• 0.67 cup cold milk
• 2.50 cups bread flour
• 1 teaspoon table salt
• 2 tablespoons granulated sugar
• 2 teaspoons instant yeast
• 4 tablespoons unsalted butter
• 1 tablespoon melted butter
• 0.50 cup light brown sugar
• 2 tablespoons bread flour
• 3 to 4 teaspoons cinnamon
• 0.06 teaspoon table salt
• 1.50 tablespoons melted butter
• 0.50 teaspoon vanilla extract
• confectioners
• 1 to 2 tablespoons milk