Take this recipe: The Pioneer Woman Cinnamon Rolls
and this frosting:
1/3 Cup evaporated milk
2 Tbsp. brown sugar
1 1/2 Cups powdered sugar
1 tsp. vanilla
In a small pot over medium heat, mix the evaporated milk with the brown sugar, stirring constantly, until the mixture starts to boil. Remove from heat. Add in powdered sugar and vanilla and mix with some sort of electric mixer until creamy, about 2 minutes. Pour over cinnamon rolls.
If you want enough frosting to cover ALL the cinnamon rolls from The Pioneer Woman, triple the batch.
I really like The Pioneer Woman's dough. They turn out great and I can freeze a bunch of pans before letting them rise. (When you want cinnamon rolls, take the pan out of the freezer and set on your counter. As the dough defrosts, they will rise.) I just don't like her glaze much.
Unfortunately, there are no pictures at this time. As soon as I make some more I will try to remember to take a picture before we devour them.