Cinnamon Buns with Vanilla Icing

This recipe comes from Michael Smith of 'Chef at Home' on the FoodNetwork. I really like how simple it was, considering they look like they came from a gourmet bakery. You won't be able to stop at one!
One note I would make is that the filling was not quite enough for me. I would like more cinnamon goo in the middle. So the only thing I would change is to make 1.5x the filling.
Also, if you have traditional yeast and not instant, warm 1/3c. of the milk seperately and sprinkle the yeast on top with 1t. sugar. Use the remaining 2/3c. milk to make the milk mixture.
Enjoy!

Cinnamon Rolls
Michael Smith - Chef At Home

Dough

• 1 cup milk
• 1/2 cup butter
• 1/2 cup brown sugar
• 1 tablespoon vanilla
• 1 teaspoon salt
• 5 cups flour
• 1 package instant yeast - 2 1/4t.
  
• 4 eggs

Filling

• 1/2 cup butter, room temperature
• 1 cup brown sugar
• 2 tablespoons cinnamon

Glaze

• 1 tablespoon vanilla
• 4 tablespoons cream
• 1 cup powdered sugar

1. In a small pot gently warm the milk along with 1 stick of butter, 1/2 cup of brown sugar, the vanilla and the salt. Don't bring to a simmer, warm just enough to melt the butter. Meanwhile measure half the flour into the bowl of a stand mixer along with the yeast. Add the warm melted milk butter mixture to the flour, beat with a paddle attachment until smooth. Add the eggs one at a time, beating until smooth before proceeding. Switch to a dough hook and add the remaining flour. Knead until a soft dough forms that is no longer sticky to the touch, about five minutes. Rest the dough in a warm place, covered in a lightly oiled bowl until it doubles in size, about one to two hours.
2. Knock the dough down and let rest for a few minutes. Meanwhile thoroughly mix together the room temperature butter with 1 cup of brown sugar and the cinnamon. Flour your work surface, the dough, your hands and a rolling pin. Roll out the dough into a long rectangle shape, about 18x12-inches. Evenly spread the cinnamon butter over the top of the dough leaving an inch or two uncovered along one long edge. This will help a seal form. Roll tightly into a long cigar shape from the covered long edge to the uncovered long edge.
   
3. Slice the dough log into 12 or 16 sections (I ended up with 16 - 1" sections). Turn each on its side and position evenly in an appropriately sized lightly oiled baking pan. Rest, uncovered, until the dough doubles in size again and the rolls swell into each other.
4. Meanwhile preheat your oven to 350. When the dough is ready, bake for 40 to 45 minutes (they took me 30min.).
5. When the cinnamon rolls have cooled enough to handle stir together the glaze ingredients and drizzle all over them.