Place all dough ingredients into the bread maker in the order listed: 1 cup milk, 1 teaspoon table or sea salt, 1 large egg, 3 tablespoons granulated sugar, 1/4 cup butter (chopped into small pieces), 3 cups unbleached all-purpose flour, and 2 teaspoons bread machine or instant yeast Select the DOUGH cycle and press START.
Check the dough at least twice during the mixing and kneading phase by lifting the lid to take a peek. The first time, look immediately after the machine starts mixing to ensure the paddles are engaged correctly. Recheck 15 minutes into the DOUGH cycle to assess the consistency of the dough. The dough should stick to the side, then pull away cleanly.If your dough is too wet, add flour one tablespoon at a time.Conversely, if the dough is too dry, add one tablespoon of liquid at a time until the dough looks just right. Read more about this surprising secret to success with a bread machine here.
When the DOUGH cycle is finished, if the dough has doubled in size, remove it from the pan to a floured surface. If the dough has not risen enough, leave it in the machine until it does before proceeding.
Shaping the dough into rolls:
After the dough has risen, remove it from the bread machine pan, push down gently and divide the dough in half.
On a generously floured surface, roll each half into a rectangle shape. The bigger, the better because it provides more surface to layer the good stuff, like butter, sugar, and cinnamon. Be careful not to roll it too thin, however, or it will tear and cause you all kinds of frustration.
Filling:
Spread each rectangle with approximately 4 tablespoons softened butter for the filling (divided in half).
Combine the 1 cup brown sugar, 2 teaspoons cinnamon, and a pinch of ground cloves.
Distribute half of the sugar mixture over the first rectangle and half over the second. Sprinkle about ½ cup pecansover the brown sugar-cinnamon layer if using them.
Roll up the dough starting with the long edge closest to you. Slice into 8 equal pieces. Place cut side down in a greased 8 or 9-inch pan or glass dish. (I like to use one 8-inch pan and one 9-inch pan or two 9-inch pans. The rolls get too crowded if you use two 8-inch pans.)
Cover and let rise until double in a warm, moist place.
Preheat the oven to 375˚F (190˚C). Bake rolls for about 20 minutes or until golden brown. The internal temperature should reach 190˚F (88˚C).
Frosting:
Combine the 2 cups powdered sugar, 1/4 cup cream cheese, and 2 tablespoons coffee or milk. Depending on how thick you like your icing, you may need more or less coffee. Milk will substitute for coffee.
Notes
Directions for making bread with a stand mixer or by hand:
To make this recipe in a heavy-duty stand mixer: Add ingredients to the bowl in the same order. Turn on LOW to mix until all ingredients are moistened. Then, using a dough hook, turn the speed to 2 or 3. Continue beating/kneading until dough becomes smooth and elastic (about 5-10 minutes). Cover and allow to rise in a warm place. Deflate dough gently and shape as indicated in the recipe.
If making by hand: Combine all ingredients into a shaggy ball in a large bowl. Turn dough out onto a floured surface. Knead with your hands until the dough becomes smooth and elastic. Kneading will likely take 10-20 minutes, depending on your experience. Place the dough ball into a greased bowl. Cover and allow to rise until double. Deflate the dough gently and shape as indicated in the recipe.
Please note: If you only have active dry yeast, use 1/4 teaspoon more than called for in the recipe. It no longer needs to be dissolved first, but you can if you prefer.