Add warm water, yeast, and sugar to the bowl of a standing mixer. Allow the mixture to sit for 5 minutes. (Make sure the water temperature is no hotter than 110º F.) Add the rest of the wet ingredients to the bowl.
Add the dry ingredients to the stand mixer bowl. Turn the mixer on low speed to mix. Gradually increase the speed until you have a nice dough.
You only get one good rise so it is important to rise the dough after you shape the cinnamon rolls.
Press the dough into a rectangle shape on a silicone mat or wax paper. Try for a ¼-inch thickness. (Feel free to dust with a small amount of additional flour if needed.)
In a small bowl, add the cinnamon filling ingredients. Cut the cold butter into the brown sugar-cinnamon mixture until it resembles crumbs.
Pour the cinnamon-sugar mixture over the dough. Spread out the cinnamon roll brown sugar mixture and then gently press it into the dough so it will stay in the rolls better while.
Tightly roll the dough into a roll. Roll the long side around, not the shorter side.
Take a piece of string. I used sewing thread. Place the thread under the roll towards the end. Grab both ends and twist and pull. This will cut the long dough roll into single serving rolls. Repeat down the entire line of the dough to make your cinnamon rolls.
Preheat the oven to 200º F and then turn it off. Place the cinnamon rolls into a greased 9x13 pan. Place the baking pan into the oven and let the cinnamon rolls rise until they double in size, about 45 minutes.
Remove the rolls and preheat the oven to 350º F. Bake the cinnamon rolls for 25 minutes until done. Let them sit for 5 minutes on a cooling rack while you mix the icing.
Add the icing ingredients to a standing mixer, or use an electric handheld mixer. Mix until the icing is creamy. Spread the icing on the warm cinnamon rolls.