Vanilla Cinnamon Rolls Recipe

In a large bowl, whisk milk and pudding mix for 2 minutes. Let stand for 2 minutes or until soft set; set aside. In a large bowl, dissolve yeast in warm water. Add 1/2 cup butter, eggs, sugar, salt and 2 cups flour. Beat on medium speed for 3 minutes. Add pudding; beat until smooth. Stir in enough remaining flour to form a soft dough (dough will be sticky). Turn onto a floured surface; knead until smooth and elastic, about 6-8 minutes. Place in a greased bowl, turning once to grease top. Cover and let rise in a warm place until doubled, about 1 hour. Punch dough down. Turn onto a floured surface; divide in half. Roll each portion into an 18-in. x 11-in. rectangle; brush with remaining butter. Combine brown sugar and cinnamon; sprinkle over dough to within 1/2 in. of edges. Roll up jelly-roll style, starting with a long side; pinch seams to seal. Cut each into 16 slices. Place cut side down in two greased 13-in. x 9-in. baking dishes. Cover and let rise until doubled, about 30 minutes. Bake at 350 ° for 20-25 minutes or until golden brown. Meanwhile, in a large saucepan, combine the brown sugar, cream and butter. Bring to a boil; cook and stir for 2 minutes. Remove from the heat. Beat in confectioners' sugar with a hand mixer until creamy. Frost warm rolls. Serve warm.