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1
Pour the warm water into small bowl and sprinkle yeast on top. Add a pinch of sugar to proof and let the yeast get foamy, about 10 minutes.
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2
Meanwhile, add flour, salt, sugar in a large mixing bowl. Add the water, milk and melted butter and combine thoroughly. If the dough is still sticky, add more flour by the tablespoonful until it's managable.
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3
Lightly flour the countertop or pastry board and place the dough on top, lightly coating with flour and kneading for about 5 minutes until smooth.
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4
Use a teeny bit of oil to coat a large, clean bowl. Add the dough and cover tightly with plastic wrap. Let rise for 2 hours in a warm place OR refrigerate overnight.
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5
If you're letting the dough rise overnight, take it out of the fridge and let sit at room temperature for 30 minutes to an hour to take the chill off.
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6
Meanwhile, mix the cinnamon and sugars in a small bowl. Set aside.
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7
After the dough has risen, roll it out on a floured surface into a large rectangular shape about 1/4 of an inch thick. Spread the 1/2 stick of butter to coat the dough and sprinkle a generous amount of the cinnamon and sugar mixture. Roll the dough to form a long cylinder. Slice the dough into 1 inch thick slices.
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8
Grease two 8x8 or one 9 1/2 x 11 inch pan(s) with nonstick cooking spray. Add the rolls so they fit snuggly next to each other. Set aside and allow to rise for another 45 minutes (they will rise a lot during this stage - it's important).
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9
Preheat the oven at 375 degrees. After the second rise, bake for 15-20 minutes until golden brown on top.
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10
Prepare the glaze by mixing well the powdered sugar, milk, and vanilla. Before the rolls cool, drizzle the glaze on top.
