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Quick 1-rise Cinnamon Rolls

Ingredients

• Dough
• 2-3/4 cups all-purpose flour
• 1/4 cup granulated sugar
• 1/2 teaspoon salt
• 3/4 cup whole milk
• 3 Tablespoons unsalted butter
• 2-1/4 teaspoons yeast
• 1 large egg, at room temperature
• Filling
• 3 Tablespoons unsalted butter, extra softened
• 1/3 cup packed brown sugar
• 1 Tablespoon ground cinnamon
• Icing
• 2 cups powdered sugar
• 2 Tablespoons melted butter
• 2 teaspoons vanilla
• 4 Tablespoons whole milk

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