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Dissolve yeast in water with 1/4 tsp sugar. Let stand 5 minutes.
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In mixing bowl, combine 2 cups flour, 3 tbsp sugar and salt.
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Stir in milk, butter, eggs and yeast mixture - until well blended.
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Add additional flour until dough pulls away from sides of bowl.
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On floured surface, knead dough until smooth and elastic, 8-10 minutes.
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Using your hands, rub small amount of butter onto surface of dough and place in bowl.
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Cover and let rise in warm, draft-free area until doubled in bulk, about 1 hour.
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While dough is rising, prepare filling by stirring all the filling ingredients together until smooth. Set aside.
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Grease or butter a 13x9 pan. Non-stick spray works well also.
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Turn risen dough onto a lightly floured surface.
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Since dough has just risen, it will be very easy to work with. Rough shape it into a rectangle and pat it out as close to 18" x 10". You may need a rolling pin to achieve the final dimensions.
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Spread with filling, leaving about 1" strip without filling along one of the 18" edges. This strip is important as it will help to seal the roll together.
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Roll tightly beginning with the side opposite the bare strip, stopping just before you get to the bare strip.
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Wet a pastry brush in water and brush the bare strip. The water will stick the final edge to the roll so that the rolls don't come apart while raising and baking.
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Finish rolling and make sure that the final edge is sealed to the roll.
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Cut off the raggedy ends and set aside (I always bake them in a small pie tin along with the rest of the rolls)
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Cut into 12 (approximately 1 1/2-inch) slices.
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Place the 12 rolls in the pan.
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Set in warm place for 30 minutes to rise.
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Bake at 350 degrees for 15 to 20 minutes or until golden brown.
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Prepare icing by mixing all ingredients together and stirring until smooth.
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Let buns cool until lukewarm, then drizzle icing.