These Healthier Cinnamon Rolls use way less butter and sugar than traditional recipes. The addition of white whole wheat flour adds fiber - a nutrient often lacking in baked goods!
Preheat the oven to 350°F, and lightly coat a 9”-round cake pan with nonstick cooking spray.
Prepare the dough: whisk together 1 cup of flour, yeast, baking powder, and salt in a medium bowl. In a large bowl, stir together the milk, butter, and sugar. Add the dry ingredients to the wet. Continue to mix in the remaining flour, 2 tablespoons at a time.
Turn the dough out onto a well-floured surface, and knead for 3 minutes or until the dough springs back most of the way when you gently press your index finger into it. Let the dough rest while preparing the filling.
Prepare the filling: stir together the brown sugar, granulated sugar, and cinnamon in a small bowl.
On a well-floured surface, roll the dough out into an approximately 16x10” rectangle. Brush with 1 tablespoon melted butter, leaving a 1” border on the two longer sides. Sprinkle evenly with the cinnamon sugar, leaving a 1” border on the two longer sides again. Carefully roll up the dough into a long log, starting at one long edge and rolling tightly towards the other edge. Brush the free edge with water then pinch onto the roll to seal.
Carefully slice the log into 10-12 pieces using a very sharp serrated knife. Place the rolls into the prepared pan. There will be space between the rolls; they won't fill up the pan completely.
Brush the tops of the rolls lightly with the 1 tbsp butter listed as "topping" in the ingredients.
Bake the cinnamon rolls for 17-20 minutes or until the filling is bubbling and the sides feel firm. Cool in the pan for at least 10 minutes. Top with icing and serve.