Preparation Steps

• In a large bowl, combine warm water and yeast. Let stand for 5-10 minutes until foamy.
• Stir in milk, sugar, salt, and melted butter. Gradually add flour and mix until a soft dough forms.
• Knead the dough on a floured surface for 5-7 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise in a warm place for about 1 hour, or until doubled in size.
• While the dough is rising, prepare the filling. In a small bowl, mix softened butter, brown sugar, and cinnamon until well combined.
• Punch down the risen dough and roll it out into a large rectangle (about 12x18 inches) on a lightly floured surface.
• Spread the cinnamon-sugar mixture evenly over the dough, leaving a small border. Sprinkle the crumbled bacon over the filling.
• Roll up the dough tightly, starting from the long edge. Pinch the seam to seal.
• Cut the roll into 12 equal slices. Place the slices, cut-side up, in a greased 9x13 inch baking dish.
• Cover the dish and let the rolls rise for another 30 minutes.
• Preheat oven to 375°F (190°C). Bake for 20-25 minutes, or until golden brown.
• While the rolls are baking, prepare the glaze. Whisk together powdered sugar, milk, and vanilla extract until smooth.
• Drizzle the glaze over the warm cinnamon rolls before serving.