Step 1: Warm the milk in a small saucepan or microwave until it reaches about 105-115°F (40-46°C). It should be warm to the touch, but not hot. Pour into a large mixing bowl or the bowl of a stand mixer.
Step 2: Sprinkle the active dry yeast and 1 teaspoon of granulated sugar over the warm milk. Let it sit for 5-10 minutes until foamy. This indicates your yeast is active and ready to make amazing mini cinnamon roll bites.
Step 3: Add the remaining granulated sugar, melted butter, egg, and salt to the yeast mixture. Mix well. Gradually add 2 cups of the all-purpose flour, mixing until just combined.
Step 4: Add the remaining 1 cup of flour, ½ cup at a time, mixing until a soft dough forms. It should be slightly sticky but manageable. If using a stand mixer, attach the dough hook and knead on low speed for 5-7 minutes until the dough is smooth and elastic. If kneading by hand, turn the dough out onto a lightly floured surface and knead for 8-10 minutes.
Step 5: Lightly grease a clean large bowl with cooking spray or a touch of oil. Place the dough in the bowl, turning once to coat. Cover the bowl with plastic wrap or a clean kitchen towel and let it rise in a warm place for 1-1.5 hours, or until doubled in size. This is crucial for fluffy mini cinnamon roll bites.
Step 6: While the dough is rising, prepare the cinnamon filling. In a small bowl, combine the softened butter, brown sugar, and ground cinnamon. Mix until well combined and creamy.
Step 7: Once the dough has doubled, gently punch it down to release the air. Turn the dough out onto a lightly floured surface and roll it into a large rectangle, approximately 18×12 inches.
Step 8: Evenly spread the cinnamon filling over the entire surface of the dough, leaving a small border (about ½ inch) along one of the long edges.
Step 9: Starting from the long edge opposite the border, tightly roll the dough into a log. Pinch the seam to seal it.
Step 10: Using a sharp knife or unflavored dental floss, cut the log into 1-inch thick slices. You should get about 18-20 mini cinnamon roll bites.
Step 11: Lightly grease a 9×13 inch baking dish. Arrange the cinnamon roll bites in the prepared dish, leaving a little space between each as they will expand.
Step 12: Cover the baking dish loosely with plastic wrap or a kitchen towel and let the mini cinnamon roll bites rise in a warm place for another 30-45 minutes, or until puffy.
Step 13: Preheat your oven to 375°F (190°C).
Step 14: Bake the mini cinnamon roll bites for 18-22 minutes, or until golden brown on top and cooked through.
Step 15: While the cinnamon rolls are baking, prepare the vanilla glaze. In a medium bowl, whisk together the powdered sugar, milk, and pure vanilla extract until smooth and creamy. If the glaze is too thick, add more milk a teaspoon at a time; if too thin, add more powdered sugar.
Step 16: Once the mini cinnamon roll bites are out of the oven, let them cool in the pan for 5-10 minutes. Drizzle generously with the vanilla glaze while still warm. Serve immediately and enjoy your homemade mini cinnamon roll bites vanilla glaze recipe!