Warm 2/3 C milk over low medium heat until it reaches 100-110 degrees Fahrenheit. Use a thermometer to check.
Add warm milk and instant yeast to a large mixing bowl or to a stand mixer bowl. Let the yeast activate while you make the paste.
In the same pot the milk cooked in, add 1/3 c milk, 1/2 c hot tap water and 1/3 c bread flour. Turn heat to medium and whisk until a thick paste forms and the lumps are all worked out. Set aside.
To the yeast and milk add the sugar, melted salted butter, egg, salt and prepared paste. Mix on low until everything is combined.
Add 3 2/3 c bread flour a cup at a time to the mixture. Allow it to come together then switch out the paddle for the dough hook. Knead for 15 minutes.
Place dough ball in a lightly greased bowl and cover for an hour in a warm dry place. I either preheat my oven to 100 degrees and turn it off once I put the bowl in the oven or I place in the microwave (off of course).
Roll dough out on a floured surface to 24x15" -- I use a measuring tape to make sure I get the size right.
Spread 8 tbsp or a stick of softened kerrygold salted butter evenly over top of the dough. It needs to be extra soft but not melted.
Mix brown sugar and cinnamon together in a bowl then sprinkle on top of the butter and dough evenly.
Tightly roll up the dough and cut into 10-12 rolls.
Place on a parchment lined sheet pan with space between each roll.
Warm heavy whipping cream and pour over the rolls.
Bake at 375 for 18-20 minutes.
While the rolls bake, mix the icing with the whisk attachment or a hand mixer. Add cream cheese, salted butter and beat until fluffy. Add powdered sugar one cup at a time. Scrape the bowl as needed. Add the vanilla and mix until fully combined.
Allow rolls to rest 5-10 minutes before slathering in icing.
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