For the dough:

• Activate the yeast. In the bowl of a stand mixer, combine yeast, sugar, and warm milk. Be careful to use WARM milk (about 100-110 degrees F). After about 15 minutes, the yeast should be bubbly and you can proceed. 

  1 1/2 Tablespoons yeast, 1/4 cup granulated sugar (50 grams), 1 2/3 cup warm milk (374 grams)
• Add butter and egg. Then add the melted butter and the whisked egg, and mix with a spatula to combine.

  1/4 cup unsalted butter, 1 large egg
• Add salt and flour. Then attach the dough hook to the mixer and add the kosher salt and about 3.5 cups of all-purpose flour. Start the mixer on low speed, and occasionally scrape the sides of the bowl with a spatula. Continue adding flour until you get your desired consistency.

  2 teaspoons kosher salt, 4 cups all-purpose flour (480 grams)
• Let rise. Use your hands to pull dough from the mixer and transfer to a large bowl prepped with oil. Form dough into a ball with smooth side up. Do this by punching down in the center of the dough and pulling the edges inward. Cover with a clean dish towel and place in a warm corner of your kitchen to rise, about one hour. This is the first rise.
• Add fillings to the dough. Pat the dough into a rectangle. Spread the softened butter on the dough. Sprinkle with brown sugar and cinnamon, leaving a little room at the edges.

  1/4 cup unsalted butter, 1/2 cup brown sugar (110 grams), 2 teaspoons ground cinnamon
• Roll the dough. Use your hands to roll the dough up into a log, starting from the bottom long-side of the rectangle. Try to get it as tight as you can while keeping the fillings inside of the log.
• Slice the dough in half. Use a sharp knife to slice the log in half the long way.
• Form twist. Form a criss cross with both sides of the dough. Twist the sections around each other.
• Transfer dough to pan. Gently place the twisted dough into the prepared cast iron pan (prepped with cooking spray), starting at the outside edge and ending in the middle.
• Let rise. Let the dough (almost) double again, about 45-60 minutes. This is the second rise.
• Bake. Preheat your oven to 350 degrees. Place pan in the oven and bake for 30-35 minutes, or until golden brown and cooked through.
• Cool. Let roll sit for five minutes and then carefully remove to a wire rack.
• Make icing. Melt butter in medium bowl. Add the maple extract, the half and half, and the cinnamon. Mix well. Then add the sifted powdered sugar and mix ingredients well. Adjust icing as needed.

  1 ½ Tablespoons unsalted butter, 1/2 teaspoon maple extract, 2 Tablespoons half and half, 1/2 teaspoon cinnamon, 1 ¾ cups powdered sugar (210 grams)
• Add icing. Spread the icing on the slightly warm cinnamon roll.
• Serve. Use a sharp knife to slice the large cinnamon twist roll.