In a small saucepan, heat water and milk until lukewarm (110F-115F). Sprinkle the yeast over the lukewarm milk mixture and let it sit for 10 minutes.

In a bowl of a standing mixer fitted with a dough hook (If you don’t have a mixer, mix by hand), add the butter, egg, sugar and salt and mix. Add the milk mixture and mix until combined. Add 3 cups of flour and mix on low speed (or mix by hand with a wooden spoon) until combined. Add the remaining flour, 2 tablespoons at a time, stirring well after each addition until the dough comes together and pulls away from the sides of the bowl. The dough should be soft, smooth, elastic and just slightly sticky. Once it has reached this consistency, keep kneading on low speed in the mixer for 5 minutes, or by hand on a floured surface for 7-8 minutes.

Cover the dough with plastic wrap and let rest in a warm place for about an hour until doubles in size.

Meanwhile, make the filling. In a small bowl, mix together sugar and cinnamon.

When the dough has doubled in size, gently punch it to remove air. Then, roll it into a 14x10 inch rectangle. Leaving small border around the edges, spread the dough with butter, then with sugar mixture and press gently. Roll up dough to form a log, starting with the longer edge, and pinch to seam seal. Cut into 12 equal size rolls and place cut side up in a greased 9-inch round pan or 9*13-inch pan. Cover and let rest to rise for about 30-45 minutes or until it doubles in size.

Preheat oven to 375F/190C.

Brush the rolls with heavy/light cream or milk (optional). Bake cinnamon rolls in the preheated oven for 25-30 minutes, until the tops have browned and a skewer inserted into the rolls comes out clean. If the rolls brown too fast, cover them loosely with aluminum foil.

To make the glaze, mix all ingredients together, adding little cream at a time until the desired consistency. Then, drizzle over the rolls.

Serve warm or reheat before serving.