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PW's Cinnamon Rolls

I DID IT!! Yep, I finally got around to making PW's cinnamon rolls. You see, I have a fear of yeast. A great big, I don't know what's wrong, why doesn't this stuff ever, ever, ever work kind of fear. And that isn't an exaggeration.
Well, fear no more! I discovered rapid rise yeast. AWESOME! Not only does it save time, it works! And I don't need to tell you how good these are, because they are by PW... right! Well, lets get to cookin'!

Ingredients:
dough
2 cups milk
1/2 cup vegetable oil
1/2 cup sugar
1 pkg rapid rise yeast
4 1/2 cups flour
1/2 heaping tsp baking powder
1/2 scant tsp baking soda
1/2 tsp salt
filling
1 cup melted butter
1/8 cup cinnamon
1 cup sugar
maple icing
1 lb powdered sugar
1/4 cup milk
3 tbsp butter, melted
1/8 cup strong coffee
dash salt
1 1/2 tsp maple extract
Directions:
Heat the milk, oil and sugar in a sauce pan over medium heat, do not allow to boil. Set aside and cool to lukewarm (120 - 130 degrees). Mix yeast and 4 cups of flour. Pour milk mixture over flour and stir until just combined.  Cover with a clean towel and let sit for 10 minutes (This replaces the first rise). Remove towel and add baking powder, soda, salt and remaining 1/2 cup flour. Stir to thoroughly combine. Pour dough onto floured surface and roll into a large rectangle about 30 x 10 inches.
To make filling pour melted butter over dough and spread to edges with your fingers. Mix cinnamon and sugar and sprinkle over the dough. Now start at the end farthest away and roll tightly toward you. When you get to the end pinch the seam together. Take a knife and mark your roll so that they will all be even. Now take a piece of floss, yes dental floss, about a foot long and cut the rolls. Slide the floss under the dough and bring it up to the first mark. Cross the floss at the top and pull. It will make a beautiful cut and all of the filling stays inside!! Pour a couple of tablespoons of melted butter in a baking dish and place rolls in the pan being careful not to overcrowd. Cover with a towel and let sit for 20 minutes; while they are resting preheat the oven to 375 degrees. Bake 13 - 17 minutes.
**I got 22 rolls out of this recipe and used a 9x13 and a pie pan. The larger pan took the full time and then some...
While the rolls are baking, make the icing. Mix the powdered sugar, milk, butter, coffee, salt and maple flavoring together until all of the sugar is dissolved and there are no lumps. When the rolls are done, pour on the icing and let it soak in. Now, thank PW for sharing such a wonderful recipe. I did, though I'm not sure she heard me. Thank you Ree!!!
Recipe adapted from The Pioneer Woman Cooks Cookbook
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