Preparation

• Heat whole milk, vegetable oil, and sugar together until lukewarm, about 110°F. Sprinkle in your active dry yeast, letting it rest for a few minutes until foamy.
• Stir in the all-purpose flour until just combined, cover, and let it rest in a warm place for about an hour.
• Gradually add more flour, baking powder, baking soda, and salt to the rested dough. Mix until everything is well incorporated.
• Lightly flour your work surface and roll out half of the dough into a rectangle, approximately ¼ inch thick.
• Evenly spread melted salted butter over the rolled-out dough, then sprinkle on sugar and ground cinnamon.
• Starting from one edge, tightly roll the dough into a log and cut into ¾ to 1-inch pieces.
• Grease your baking pan with melted butter and arrange the rolled pieces evenly inside. Cover and let them rise for about 20-30 minutes.
• Preheat your oven to 375°F. Bake the cinnamon rolls for 15-18 minutes or until they are golden brown.
• While the rolls bake, combine powdered sugar, maple flavoring, whole milk, coffee, and salt in a bowl. Whisk until smooth.
• Drizzle the warm rolls with your rich maple coffee frosting as soon as they come out of the oven.
• Enjoy your freshly baked cinnamon rolls warm or store them in an airtight container for later.