Honestly, although I do like sugar and cinnamon combinations a LOT, the cinnamon rolls I pictured came from Cinnabon, Costco, or grocery bakeries - oozing with icing and sugar and butter.
Well, this homemade version from Allrecipes is ten times better. Oh my goodness, and they don't even taste unhealthy - not overly sweet and buttery at all.
3/4 cup milk
1/4 cup butter, softened
3 1/4 cups all-purpose flour
1 package instant yeast
1/4 cup white sugar
1/2 teaspoon salt
1/4 cup water
1 cup brown sugar, packed
1 tablespoon ground cinnamon
1/2 cup butter, softened
Oranges or fresh orange juice
Cinnamon Rolls: Heat the milk in a small saucepan until it bubbles, then remove from heat. Mix in butter; stir until melted. Cool until lukewarm.
In a large mixing bowl, combine 2 1/4 cup flour, yeast, sugar and salt; mix well. Add water, egg and the milk mixture; beat well. Add the remaining flour, 1/2 cup at a time, stirring well after each addition. When the dough has just pulled together, turn it out onto a lightly floured surface and knead until smooth, about 5 minutes. Cover the dough with a damp cloth and let rest for 10 minutes.
Meanwhile, in a small bowl, mix together brown sugar, cinnamon, softened butter. Roll out dough into a 12x9 inch rectangle. Spread butter/sugar mixture on dough and add walnuts. Roll up dough and pinch seam to seal. Cut your log into rolls with a sharp knife and place cut side up in a 9 x13 casserole tray. Cover and let rise until doubled, about 1 hr (dough should expand to fill the tray).
Preheat oven to 375 degrees F (190 degrees C). Bake in the preheated oven for ~35 minutes, or until browned.
If you use muffin tins, it should take a little less time to bake. Squishing all the rolls together keeps them moist. I let mine bake a little longer til slightly crunchy.
Glaze: Combine powered sugar, vanilla extract, and orange juice to taste - adjust the ratio so that the orange juice is just thickened. Drizzle on top of the cinnamon rolls.