Vanilla Cinnamon Rolls

Ingredients (16)

• 2 cups cold whole milk
• 1 package (3.4 ounces) instant vanilla pudding mix
• 2 packages (1/4 ounce each) active dry yeast
• 1/2 cup warm water (110° to 115°)
• 1/2 cup plus 2 tablespoons butter, melted, divided
• 2 large eggs
• 2 tablespoons sugar
• 1 teaspoon salt
• 6 cups all-purpose flour
• 1/2 cup packed brown sugar
• 1 teaspoon ground cinnamon
• FROSTING:
• 1 cup packed brown sugar
• 1/2 cup heavy whipping cream
• 1/2 cup butter, cubed
• 2 cups confectioners' sugar