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Heat milk in microwave for 45 seconds until warm
Combine warm milk, 1 tsp sugar, and active dry yeast
Whisk eggs and mix with 1.5 tbs vanilla extract
Combine milk mixture with eggs and vanilla
Mix in 1 stick softened salted butter
Combine 2 cups AP flour, 2 cups bread flour, 2 tbsp sugar, and 1 tsp salt
Mix wet and dry ingredients together to form dough
Prepare cinnamon filling by mixing 1 stick softened butter, 1 cup brown sugar, 1 tsp vanilla extract, pinch of salt, and 2 tbsp cinnamon
Roll out dough and spread cinnamon filling evenly
Roll dough tightly and cut into rolls
Prepare maple cinnamon pan sauce by combining 1 stick softened butter, ¾ cup brown sugar, ¼ cup maple syrup, 1.5 tsp cinnamon, 1 tbs heavy cream, and 1 tsp vanilla extract
Place rolls in pan with maple cinnamon sauce
Bake according to standard cinnamon roll baking instructions
Prepare frosting by mixing 4 oz cream cheese, 5 tbs butter, 1 cup powder sugar, 1 tsp vanilla extract, and 1-2 tbs heavy whipping cream
Frost cooled cinnamon rolls