Tweaking recipes over the years this is what I now do:

Sweet Cinnamon Rolls with Orange Vanilla Glaze

5 cups flour
add 1/2 stick of butter (melted) and put in mixer with dough hook
On stove warm 2 cups milk
(You want it to be warm, but cool enough to stick your finger in and not be burned if you count to 10)
To this add 3 1/4 teaspoons of yeast and about 1/4 cup of sugar (I use Mexican cane sugar instead of white sugar in everything.)
In a small cup beat 2 eggs
Add milk mixture and eggs to flour mixture and blend.
If dough is really sticky add enough flour to make it still moist but where you can touch it and
not have sticky fingers (it’s okay if it’s more on the sticky side now because you can add flour later when your knead.)
Let rise about 15 minutes (would be better to let rise til double, but we are impatient.)
Knead dough on floured surface.  Add flour to make a nice dough if it’s sticky.  Knead until you have a pretty, soft dough.
Roll out into a large rectangle (about 18 x 20)
Brush with melted butter and then sprinkle with cinnamon sugar (you can add nuts or chocolate chips or raisins if you want to.)
Roll up from long side pressing as you go.
Cut into about 1 inch pieces and place cut side down in a greased baking dish.
Let rise at least another 15 minutes (or ideally until doubled.)
Bake at 350 until light golden brown.
Pour or brush glaze over rolls while warm.

Glaze
About 1/4 cup of melted butter (more or less)
Add powdered sugar (1-2 cups, again more or less)
thin with orange juice and add about 1/2 teaspoon of vanilla