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To make the dough: Weigh your flour; or measure it by gently spooning it into a cup, then sweeping off any excess. In a small bowl, mix together all of the dough ingredients then transfer it to a floured surface and knead by hand to form a smooth, soft dough.
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Shape the dough into a ball, place it in a bowl, cover, and let it rise until puffy but not necessarily doubled in bulk, 45 to 60 minutes (depending on the warmth of your kitchen).
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To make the filling: While the dough is rising, use a fork to whisk together the brown sugar, flour, cinnamon, and salt. Set aside.
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Prepare the pan of your choice: Line a quarter- or half-sheet pan with parchment, or lightly grease a loaf pan, 8" or 9" square pan, or round pan.
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To assemble the small-batch cinnamon rolls: Transfer the dough to a lightly floured work surface and press it into a 4" x 10" rectangle.
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Brush the surface of the dough generously with milk and then sprinkle the filling on top, covering all but a 1/2" strip along one short side. Press the filling gently to adhere.
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Cut the dough in half lengthwise using a bench knife. You will now have two rectangles, approximately 2" x 10".
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Starting with the filling-covered short end, roll one piece of dough into a log and pinch to seal. Stand the log up, exposing the swirl, and press down to create a shorter cinnamon roll. Transfer it to the prepared pan and repeat with the remaining piece of dough.
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Cover the pan and let the rolls rise for 45 to 60 minutes. The dough will be puffy and shouldn’t bounce back immediately when gently pressed. While the small-batch cinnamon rolls are rising, preheat the oven to 375°F.
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Bake the rolls for 15 to 18 minutes, until a digital thermometer inserted into the center of one roll reads 190°F. Rolls baked on a baking sheet will be golden brown in color, while rolls baked in a pan with higher sides will remain pale. Allow the small-batch cinnamon rolls to cool while you make the icing.
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To make the icing: In a small bowl, combine the confectioners’ sugar and milk until you reach your desired consistency.
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Spread the icing evenly over the cinnamon rolls. Serve warm or at room temperature.
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Storage information: Store any leftovers, covered, at room temperature for several days.