About an hour, or an hour and half before you start actively mixing ingredients, go ahead and measure out your milk, eggs and butter, and let them sit on the counter.
Once the milk, eggs and butter have warmed up a bit, add all of the dry ingredients in the bowl of your mixer.
With mixer on low, add the milk and slowly add the eggs.
Once the milk and eggs have been incorporated into the dough, speed the mixer up just a bit, and add one or two tablespoons of room temperature butter. Wait until the butter tabs have been worked into the dough before adding two more. Continue until all the butter has been added. This process may take some time, don't expect it to happen quickly.
The dough will appear very wet and shaggy. Turn the speed up one more notch to a medium or low medium speed, and continue working the dough until it finally clears the sides of the bowl and turns smooth and shiny, about 20 minutes or so in my kitchen. By the time this step is done, my mixer is pretty warm to the touch, it gets a workout.
Turn the dough out into a lightly greased bowl, cover it and stick it in the fridge for a bit while you clean up the mess you just made!
After 30 minutes or more, take the dough out of the fridge and turn it out onto your counter, where you have spread a small bit of flour so that you can roll this dough out. Flour your rolling pin as well, and try to get a flat rectangular shape rolled out, the flatter your dough here, the tighter your cinnamon layers will be in your finished roll.
Liberally sprinkle cinnamon sugar all over the dough, and then roll it into one long log.
I cut the ends of the log, just because they are not as clean looking and as attractive as I would like, and then cut the remaining log into 8 equal pieces, or however many cinnamon rolls you would like.
Place them cut side facing up in a lightly greased 9 x 13 Pyrex dish, cover and stick back in the fridge overnight.
In the morning, preheat your oven to 350 degrees and take the rolls out of the fridge and let them sit on the counter about an hour or an hour and a half. Then bake them in your 350 degree oven for about 25 - 30 minutes, turning midway if necessary, or until they are the color brown that you really like.
For the icing, place your powdered sugar in a mixing bowl, add the milk and some vanilla if you like and whisk together until smooth. Add either more sugar or more milk to achieve the consistency you are looking for.