Into the large bowl of the stand mixer, add in a cup of warm milk, the softened butter, an egg, a teaspoon of salt, 4 tablespoons castor sugar, 3 teaspoons active dry yeast, and the flours.
Using the dough hook knead the dough until all the ingredients are well combined to form a soft smooth dough. Place the dough in a greased bowl, cover with a cling wrap and allow it to rise until doubled about 2 hours.
When doubled in size, punch down dough. Roll out on a floured surface into a 15 by 9 inch rectangle.
Combine the filling ingredients – butter, sugar and cinnamon together. Spread over the rolled out dough evenly.
Beginning at the 15-inch side, role up the dough dough into a log. Cut the rolled log into 12 to 15 slices. Notice the beautiful pin wheel the dough has formed into.
Place the cinnamon roll slices close together in the greased pan. Cover and we will now allow it to rise for another 30 minutes.
Preheat the oven to 180 C.
After 30 minutes of rising, place the rolls in a preheated oven and bake for about 30 minutes or until browned from the edges.
Once baked, remove from the oven and allow it to rest while we make the glaze.
Meanwhile, mix butter, powdered sugar, and vanilla in a large mixing bowl. Add milk or cream 1 tablespoon at a time until the glaze reaches thick pouring consistency. Spread over slightly cooled rolls.
Serve the Homemade Cinnamon Rolls hot along with saucy glaze or allow it to cool and set. You can store the Cinnamon Rolls in the refrigerator and warm it up in the microwave and serve them for breakfast along with a hot cup of coffee.