Weigh milk and butter into TM mixing bowl. Heat on 50 degrees C for 3 min on speed 1.
Add remaining dough ingredients in order given. Process 3-5 seconds on speed 7 to make a rough dough. Then Knead 2 minutes on .
Turn dough out into a bowl and let prove for 1 hour or until doubled.
Roll out dough on lightly floured surface to 35 x 50 cm rectangle. Let rest while preparing filling.
Weigh the filling ingredients into the TM bowl and mix 10 sec on speed 4 until creamy
Evenly spread the pre-blended filling on the dough
Roll dough lengthwise (the long side) and cut into 12 rolls
Place rolls in a lightly greased 23 x 33 cm baking tin lined with baking paper
Cover an let rise for 30 minutes
preheat your oven to 200 degrees C
Bake in a preheated oven for approx 15-20 minutes, or until golden. While baking, prepare the icing
Mill sugar together with vanilla bean into icing sugar 20 seconds on speed 9. (substitute 1/2 teaspoon pure vanilla extract after milling sugar if you don't have vanilla bean)
Add butter, cream cheese and salt. Heat on 37 degrees for 2 minutes on speed 2
Spread icing on rolls while still hot out of the oven
Optional :: Make-ahead Method
Instead of the final "cover and let rise 30 minutes", after you have placed your Cinnabuns in the baking tin, cover and refrigerate overnight. Put them straight from the fridge into the pre-heated oven and enjoy them fresh-baked the next morning.
Wondering what a Thermomix is?! - check it at http://www.thermomixcanada.ca/ They are BIG in Europe... they heat, they grind, they mix, they steam, they knead bread... they basically make your dinner (ok, not quite)! We love ours... but it is definitely an investment - but worth it when you consider feeding a family of 3 boys over the next 15-20 years! We bought ours in Poland, but they are available in Canada/the USA (they're just way less popular).