Cinnamon Swirl Rounds - Kitchenaid Cookbook

MAKE DOUGH: Combine milk, sugar, salt, and butter in small saucepan. heat over low heat until butter melts and sugar dissolves. Cool to lukewarm. Dissolve yeast in warm water in warmed bowl. Add lukewarm milk mixture, eggs, and 5 cups flour. With dough hook mix 2 minutes at speed 2. Continuing on speed 2, add remaining flour, 1/2 cup at a time, until dough clings to hook and cleans sides of bowl, about 2 minutes. Knead on speed 2 for 2 more minutes. Place in a greased bowl, turning to grease top. Cover; let rise in warm place, free from draft, until doubled in bulk, about 1 hour. Punch dough down and shape as desired for rolls or coffee cakes. FILLING MIXTURE: Place filling ingredients in bowl. Mix with flat beater at speed 2 for 1 minute. Roll dough to a 10 x 30 x 1/4 inch rectangle. Spread mixture evenly on dough. Roll dough tightly from long side to form 30-inch roll, pinching seam together. Cut into twenty one 1 1/2-inch slices. Place 7 rolls each in 3 greased 8 x 1 1/2-inch cake pans. Cover; let rise in warm place, free from draft, until doubled in bulk, about 1 hour. Bake at 350 F for about 20 minutes. Remove from pans immediately. Spread caramel glaze over warm rolls. CARAMEL GLAZE: Combine milk and brown sugar in small saucepan. Over medium heat, cook, stirring constantly, until mixture begins to boil. Place milk mixture, powdered sugar, and vanilla in bowl. Beat with flat beater at speed 4 until creamy, about 2 minutes.