Step 1: In a large bowl, combine the warm milk, yeast, and 1 teaspoon of the granulated sugar. Stir gently and let sit for 5-10 minutes until foamy. This activates the yeast.
Step 2: Add the remaining granulated sugar, egg, melted butter, buttermilk, vanilla extract, and red gel food coloring to the yeast mixture. Whisk until well combined and the color is even.
Step 3: In a separate bowl, whisk together 3 ½ cups of flour, cocoa powder, and salt. Gradually add the dry ingredients to the wet ingredients, mixing with a wooden spoon or stand mixer with a dough hook until a shaggy dough forms. If the dough is too sticky, add more flour, one tablespoon at a time, until it comes together.
Step 4: Knead the dough on a lightly floured surface or in a stand mixer for 8-10 minutes until it’s smooth, elastic, and no longer sticky. Lightly grease a large bowl with oil, place the dough in it, turning once to coat. Cover with plastic wrap and let rise in a warm place for 1.5-2 hours, or until doubled in size.
Step 5: While the dough is rising, prepare the filling. In a medium bowl, combine the softened butter, brown sugar, and cinnamon until a smooth paste forms. Set aside.
Step 6: Once the dough has doubled, gently punch it down and turn it out onto a lightly floured surface. Roll the dough into a large rectangle, approximately 18×12 inches.
Step 7: Evenly spread the cinnamon-brown sugar filling over the entire surface of the dough, leaving a small ½-inch border along one long edge. Roll the dough tightly from the opposite long edge, forming a log.
Step 8: Using a sharp, un-serrated knife or dental floss, cut the log into 12 equal slices (about 1 ½ inches thick). Place the sliced rolls in a greased 9×13-inch baking dish, leaving a little space between them. Cover the dish with plastic wrap or a clean kitchen towel and let them rise again in a warm place for 30-45 minutes, or until puffy.
Step 9: Preheat your oven to 375°F (190°C). Bake the red velvet cinnamon rolls for 20-25 minutes, or until the edges are lightly golden and the centers are cooked through. Do not overbake to keep them soft.
Step 10: While the rolls are baking, prepare the cream cheese frosting. In a medium bowl, beat the softened cream cheese and butter with an electric mixer until light and fluffy. Gradually add the sifted powdered sugar, beating until smooth. Stir in the vanilla extract. Add milk or cream, 1 tablespoon at a time, if a thinner consistency is desired.
Step 11: Remove the red velvet cinnamon rolls from the oven and let them cool for about 5-10 minutes. Generously spread the cream cheese frosting over the warm rolls. Serve immediately and enjoy your homemade red velvet cinnamon rolls recipe!