After your starter is active (typically takes 6-8 hours but will depend on the temperature of your kitchen), mix your dough by adding milk and starter to the bowl of a stand mixer. Stir together with your dough whisk or fork to combine.
Next, whisk in sugar and room temperature egg until well incorporated.
Add flour and salt to your bowl, stirring until a shaggy dough begins to form. Then, add room temperature butter, mixing with a stand mixer paddle attachment on medium-low speed until fully incorporated. It’s important to use room-temperature butter, or this will be difficult.Cover the bowl and allow the dough to proof overnight in the fridge or on your counter for 8-9 hours. The dough will double in size during the rise time.
The next morning, turn out the dough onto a floured surface. Roll the dough into a rectangle using a floured rolling pin. 12×18 inches is a good size.
Mix brown sugar and cinnamon together in a small bowl and set aside.
Spread the room temperature butter on top of the dough. Then sprinkle the cinnamon-sugar filling on top and roll the dough up tightly into a log shape.
Using a bench scraper, sharp knife, or dental floss, cut the roll into 12 equally sized pieces.
Arrange the rolls in a baking pan and cover with a towel for the final rise for about 1-2 hours until they become visibly larger. You can speed up the second rise time by placing the rolls on top of a warm oven.
Bake at 350 for 25-30 minutes.
While the rolls are baking, prepare the frosting. Add softened butter and powdered sugar to a medium-sized bowl and mix together. Then add a splash or two of cold coffee and stir. Trust me. You will love the flavor the coffee adds to the frosting. This is the ingredient that has everyone asking about my frosting. But, if you are out of coffee, you can use milk in its place. You want the frosting to be creamy and without lumps.
Once the rolls are out of the oven, allow them to cool for 15 minutes before icing. If you frost them too soon, it will melt and slide off of the sides of your cinnamon rolls finding it’s way into the bottom of the pan.