1. In the bowl of a stand mixer fitted with the dough hook attachment, add the instant yeast, warmed milk and sugar. Allow the mixture to sit for 2-3 minutes, while you measure out the rest of the ingredients. This step is not necessary, as instant yeast does not need an activation time, I just personally like to do this to make sure the yeast is working. The mixture should appear frothy on the surface and smell yeasty.

Add in the bread flour, salt, eggs and softened butter. Knead the mixture for 5 minutes on medium-low speed, then transfer the dough to a greased bowl. Spray the top of the dough with nonstick cooking spray and cover with plastic wrap.

2. Allow the dough to rise for 1 hour in a warm place.

3. While the dough rises, make the cinnamon sugar filling. In a large bowl, add melted butter, brown sugar and cinnamon. Stir to combine. Sit aside until ready to use.

4. Punch dough down, then place on very lightly floured countertop. Roll out into a 20-inch diameter circle. Spread the cinnamon sugar filling over the circle, spreading all the way to the edges.

5. Cut the circle like a pizza into 12 roughly equal triangles. Roll up each triangle, starting at the wide end, into a croissant shape.

6. Place on parchment paper lined baking sheet, cover with plastic wrap and allow to rise for 30 minutes in a warm place.

7. Preheat oven to 350F.

8. Brush rolls with melted butter, then bake in preheated oven for 15-25 minutes, or until light golden brown in color.

9. Make the icing. In a large bowl, add butter, powdered sugar, 3 tablespoons heavy cream, vanilla extract and a very tiny pinch of salt. The icing should be thin enough to be able to dunk the croissants into, almost like a glaze. Add more heavy cream as needed until the desired consistency is reached.

10. Dip the top side of the croissants in the glaze icing, then place on parchment paper to catch any excess icing that drips off. Enjoy!