Classic Cinnamon Rolls | Williams Sonoma

Ingredients

• 1 cup (8 fl. oz./250 ml) whole milk
• 1/2 cup (4 oz./125 g) granulated sugar
• 5 Tbs. (2 1/2 oz./75 g) unsalted butter, melted and cooled
• 3 eggs
• 1 package (2 1⁄2 tsp.) quick-rise yeast
• 5 cups (25 oz./780 g) unbleached all-purpose flour, as needed, plus more for rolling out the dough
• 1 1/4 tsp. fine sea salt
• 1/2 cup (3 1/2 oz./105 g) firmly packed light brown sugar
• 6 Tbs. (3 oz./90 g) unsalted butter, at room temperature
• 2 tsp. ground cinnamon
• 1 1/2 cups (6 oz./185 g) confectioners’ sugar
• 2 oz. (60 g) cream cheese, at room temperature
• 2 Tbs. unsalted butter, at room temperature
• 1/2 tsp. pure vanilla extract
• Finely grated zest of 1 orange
• 1/4 cup (2 fl. oz./60 ml) whole milk, or as needed