Gluten-Free Cinnamon Rolls

To prepare dough: Combine flour, yeast and salt in a stand mixer with a paddle attachment. Add softened butter and mix on low speed until crumbly.

Whisk milk, egg, sugar and vanilla in a medium bowl. Add to the mixer and mix on low speed until combined.

To prepare filling & assemble rolls: Combine brown sugar, melted butter and cinnamon in a small bowl.

Coat a 9-inch round cake pan with cooking spray. Lightly flour a large piece of parchment paper. Turn the dough out onto the paper and lightly dust with flour. Pat into a 12-by-10-inch rectangle. Spread the filling over the dough. Starting from a shorter side, roll the dough up, jelly-roll style, into a 12-inch-long log. Slice crosswise into 12 (1-inch) rolls and arrange in the prepared pan. Loosely cover with plastic wrap. Let rise in a warm place until doubled in size, about 1 hour.

Preheat oven to 350 degrees F.

Uncover the rolls. Bake until golden brown, 25 to 30 minutes.

To prepare icing: Stir confectioners' sugar and milk in a small bowl until smooth. Drizzle the icing over the warm rolls.