Classic Cinnamon Rolls

This recipe was a great way to start a Saturday morning on a holiday weekend!
As I've mentioned before, I love to make a good, homemade breakfast on the weekends when we're all home together. My husband absolutely loved these cinnamon rolls and I'm glad because I will admit that they take a bit of preparation time. The end result- they're worth it!

A family member passed this recipe on to me after they had pulled it from "Family Circle" magazine.

Recipe:

rolls:
1 cup milk
1 envelope of active dry yeast
1/4 cup warm water (100-110 degrees)
3 tbsp sugar
2 large eggs
1/4 cup (1/2 stick) unsalted butter, melted
4 1/2 to 5 cups all-purpose flour
1/2 tsp salt

filling:
1/2 cup (1 stick) unsalted butter, room temp
1/4 cup sugar
1 cup packed light brown sugar
1 tbsp cinnamon
1 cup chopped pecans (optional)

glaze:
2 cups confectioner's sugar
1-3 tbsp milk

Heat the milk in a small saucepan over medium heat until it just begins to boil. Remove from heat and let cool to room temperature.
Meanwhile, sprinkle the yeast over the warm water in a large mixing bowl. Add 1 tbsp of the sugar and let stand until foamy, about 5 minutes.

The yeast/water mixture

Beat in the remaining 2 tbsp sugar, eggs and butter. Beat in the cooled milk. (At this point on my mixer, I swap out my beater for a dough hook)
Gradually add 4 cups of the flour and salt, scraping down the sides of the bowl, until a soft dough forms.
(Dough will be sticky)

Turn the dough onto a floured work surface. Knead into the dough as much of the remaining flour as necessary, adding more if too sticky. Knead for about 10 minutes until the dough is nice and smooth and no longer sticky. (The dough will be soft.)

Place dough in a large bowl and cover with plastic wrap and place in a warm area until it has doubled in size, about 1 1/2 hours.

Kneaded dough in plastic wrap

Dough has doubled in size

Coat a 12 inch skillet or round cake pan with butter or non-stick cooking spray. Line the bottom with parchment paper and coat paper for easier clean-up.

Prepare filling. Mix butter, both kinds of sugar and cinnamon together in a medium sized bowl.

Punch down the dough. Roll out onto a lightly floured work surface using a rolling pin to approx. an 18 x 12 inch rectangle.

Spread the butter/sugar mixture over the dough. Sprinkle with nuts if desired.
Starting on one long side, roll the dough up jelly-roll style and pinch the seam closed.

Cut crosswise into even portions (approx. 1 1/2 inch pieces). Arrange rolls cut side down, in the prepared pan. (NOTE: more than likely, you will not be able to fit all the rolls in one pan. For me it took two pans.)
Cover the pan tightly with plastic wrap and refrigerate overnight.

Preheat oven to 350 degrees. Uncover the pans and bake until the rolls are golden brown and bubbly, approx. 25-35 minutes. Let rolls cool 10 minutes before spreading the glaze.

GLAZE

Mix confectioner's sugar and 1 tbsp milk, adding more milk if necessary, to make a smooth glaze (not too thick but not too runny).