Gently warm the milk in a saucepan over a low heat. It should be warm to touch but not bubbling.

Pour this into a bowl and stir in the sugar and yeast.

Cover with a clean tea towel and leave for 10 minutes until the mixture has a layer of foam on top and it smells yeasty.

Beat in the butter.

Add the eggs, beating in one at a time.

Add the salt.

Add the flour in four lots, folding each in thoroughly before adding the next.

Stir until the mixture comes together into a dough.

Tip out on to a well-floured surface and knead for 10 minutes.

Place in a greased bowl, cover, and leave in a warm place for 1-2 hours, until doubled in size.

Grease and line a large tray with greaseproof paper.

Dust your surface with flour.

Tip the dough out, punch out the air and knead for 2 minutes.

Roll the dough out to 12”x18”.

Spread it with butter and sprinkle over the sugar and cinnamon.

Roll up tightly and cut into 12 equal slices (1.5inches) with a sharp knife.

Place these cut side up in your baking tray. Leaving a little room between them.

Cover and leave for a further 1-2 hours, until they’ve risen so that they fill the tray.

Preheat the oven to 170 degrees or 190 if not fan assisted.

Bake for 25 minutes until light golden brown.

Remove from the oven but leave in the tray.

For the topping, mix together the icing sugar and vanilla, add the milk bit at a time and mix well until it’s a thick but pourable mixture.

Use a spoon to drizzle this over your cinnamon rolls.

Leave in the tray to cool completely.