1 package (1/4 ounce) active dry yeast 
1 tablespoon sugar 
1/4 cup warm water (110° to 115°) 
1 cup 2% milk 
1/3 cup instant vanilla pudding mix (half of a 3.4-ounce package) 
1 large egg, room temperature 
1/4 cup butter, melted 
1 teaspoon salt 
3 to 3-1/2 cups all-purpose flour 
FILLING:
 3/4 cup sugar 
1 tablespoon ground cinnamon 
1/4 cup butter, melted 
FROSTING:
 1/2 cup butter, softened 
2 teaspoons vanilla extract 
1 teaspoon water 
1-1/2 to 1-3/4 cups confectioners' sugar
1In a small bowl, dissolve yeast and 1 tablespoon sugar in warm water. In a large bowl, beat milk and pudding mix on low speed 1 minute. Let stand 1 minute or until soft-set. Add egg, melted butter, salt, yeast mixture and 2 cups flour; beat on medium until smooth. Stir in enough remaining flour to form a soft dough (dough will be sticky). 
2Turn dough onto a floured surface; knead until smooth and elastic, 6 to 8 minutes. Place in a greased bowl, turning once to grease the top. Cover and let rise in a warm place until doubled, about 1 hour. 
3For filling, in a small bowl, mix sugar and cinnamon. Punch down dough; divide in half. Turn 1 portion of dough onto a lightly floured surface; roll into an 18x10-in. rectangle. Brush with half of the melted butter to within 1/4 in. of edges; sprinkle with half of the sugar mixture. Roll up jelly-roll style, starting with a long side; pinch seam to seal. Cut into 12 slices. Repeat with remaining dough and filling ingredients. 
4Place all slices in a greased 13x9-in. baking pan, cut side down. Cover with a kitchen towel; let rise in a warm place until almost doubled, about 45 minutes. Preheat oven to 350°. 
5Bake 20 to 25 minutes or until golden brown. Cool in pan on a wire rack. 
6For frosting, in a small bowl, beat butter until creamy. Beat in vanilla, water and enough confectioners' sugar to reach desired consistency. Spread over warm rolls. Serve warm.
Prize Winning Recipe
Total Time    
Prep: 1 Hour + Rising Bake:     20 Min.
My cinnamon rolls have been known to vanish quickly. Once I dropped off a dozen rolls for my brothers, and they emptied the pan in 10 minutes. 
Nutrition Facts
1 cinnamon roll: 199 calories, 8g fat (5g saturated fat), 29mg cholesterol, 187mg sodium, 29g carbohydrate (16g sugars, 1g fiber), 2g protein.