Cinnamon Rolls on a Stick

INGREDIENTS

2 cups

whole milk

1/2 cup

canola or vegetable oil

1/2 cup

sugar

2 1/4 tsp

instant yeast (or 1 packet active dry yeast)

4 cups

+1/2 cup (separated, all-purpose flour)

3/4 tsp

baking powder

1/2 tsp

baking soda

1 1/2 tsp

kosher salt

1 stick

melted butter (8 tablespoons)

1 cup

raw sugar

1/4 cup

ground cinnamon

4 cups

powdered sugar

1/2 cup

warm whole milk or half and half

2 tbsp

melted butter

1 tbsp

pure vanilla extract (preferably with flecks of real vanilla bean)

Optional: 1 teaspoon ground vanilla (see below recipe for source)