Combine all dough ingredients in the bowl of a stand mixer. Knead with a dough hook until the dough is shiny. This can take 15 minutes sometimes. The dough will be a bit sticky.
Cover the bowl with plastic wrap or a damp tea towel. Place it in a warm spot until doubled in size. If you keep it near the stove while cooking, it may rise in as little as 3-4 hours. It may take overnight to double if the areas is cool. When to gently touchtone top of the dough, it should no longer be sticky to the touch, and should feel soft and fluffy, almost cloud-like. In a separate bowl, combine all of the filling ingredients. The butter should be soft but not melted. You can pulse this mixture in a blender if your butter is still cold.
Roll the dough out on a floured surface. Try to create a rectangle that measure about 8" x 12".
Spread the filling across the entire surface of the dough. It should be evenly distributed.
Starting on one long side, being rolling the dough tightly onto itself. Use your thumbs to lift the roll off the surface while using your finger to roll and tuck the filling in tightly as you roll. When you get to the end, pinch the seam together to seal the dough shut
Cut the log into roughly 1" sections. Place these rolls into a greased skillet or on a sheet pan lined with parchment paper or silicone. Pack them in tightly so they will be forced to expand upward. Cover and allow to rise until double again.
Preheat your oven to 375°. Once it comes to temperature, wait another 5 minutes or so to make sure it's nice and evenly hot. Bake the cinnamon rolls for 30 minutes, or until they're golden brown.
Combine all icing ingredients with a fork or whisk. Pour or spread the icing over the tops of the cinnamon rolls, or on to individual rolls after serving.