Please read through the recipe and notes section before starting for best results!
To the bowl of a stand mixer, add the flour, yeast, sugar, salt and baking powder. Be sure to use instant yeast and not the yeast packet from the flour.
Mix on low until combined with the dough hook.
Warm the milk in the microwave for about 1 minute or until warm like bath water. You don't want it too hot or it will kill the yeast, but too cold and it won't activate the yeast.
With the mixer running on low, pour in the milk, then the melted/slightly cooled butter, eggs and vanilla extract.
Mix for about 30 seconds, then scrape down the sides and bottom of the bowl to ensure everything is well combined.
Turn the mixer to medium/low speed and let knead the dough for about 5 minutes.
Let the dough sit for a few minutes.
Meanwhile, whisk together the cinnamon and sugar in a bowl and set aside.
Add the 6 tablespoons of butter to a bowl and melt for about 15-20 seconds, then stir so it just looks softened and not fully melted. Set aside.
Transfer the dough to a floured surface (I usually use parchment paper and flour it to really ensure no sticking).
Roll into a 12x15 rectangle using a floured rolling pin.
Carefully brush the butter on top, then sprinkle with the cinnamon sugar.
There are two methods we can use to slice the rolls, but for this recipe, my preferred is to use a pizza cutter to cut the dough into strips.
Working from the 15 inch end, cut out 12 strips about 1 1/4 inch wide (so each strip will be 1 1/4 inch x 12 inches). You can also make 10 large rolls and cut each 1 1/2 inch wide.
Roll each strip into the roll and place in a greased 9x13 baking pan. They puff up a lot while they bake, so ensure you have enough space between each.
Cover with plastic wrap then top with a dish towel and let rise for 1 hour. I will usually just place on top of my oven. You want a slightly warm environment, so if your house is cold, preheat the oven first.
Toward the end of the hour, preheat the oven to 350 Fahrenheit.
Once the rolls have risen (they won't quite double in size but will puff up a bit), bake for 22-28 minutes, depending on your oven and preference.
Meanwhile, whisk together the melted butter and cream cheese for the glaze, then slowly add in the powdered sugar, 1/2 cup at a time until smooth. Whisk in the vanilla.
When the rolls are done, let cool for about 5 minutes, then top with the glaze and enjoy!