For the Dough:

1. Whisk together the milk, canola oil, and sugar in a medium saucepan. Place over medium heat and whisk until well combined (you want the sugar to dissolve).
2. Remove from the heat and allow the mixture to cool slightly. Sprinkle the yeast over the top and let it sit for 1 minute.
3. In the bowl of your stand mixer, add 4 cups of flour. With the dough hook attachment, start the machine and slowly pour in the yeast mixture until it is just combined.
4. Cover the bowl with a towel and place in a warm place for an hour.
5. Add the remaining ½ cup of flour, salt, baking powder, and baking soda and mix into the dough until well combined. At this point, you can either roll out the dough and use it immediately or store it in the fridge, well covered, for a couple days.
6. Roll the dough out into a large rectangle on a well-floured surface until it is about ¼-inch thick.

For the Filling:

1. Preheat the oven to 375°F.
2. Evenly pour the melted butter over the rolled out dough. Evenly sprinkle the butter with the sugars and cinnamon.
3. Carefully and gently start rolling the dough lengthwise, forming a tight roll.
4. Cut the dough into 1-inch slices and place in a well-greased baking dish (I used 2 9-inch round cake pans for mine – but feel free to put them all in one larger baking dish!). Once all the rolls have been placed in the baking dish, cover with a towel, and allow to rest at room temperature for 20-30 minutes, or until they double in size.
5. Transfer to the oven and bake for 15-20 minutes or until golden brown.

For the Topping:

1. While the rolls are baking, make the streusel topping by melting the butter in a small saucepan. Add the other ingredients to the pan once the butter is melted.
2. Cook over medium-low heat, stirring almost constantly, for about 5 minutes. You want to cook it long enough to cook out the raw flour flavor. It is ready when it is very crumbly and the butter has been completely absorbed.
3. Sprinkle the streusel evenly over the baked cinnamon rolls while they cool.

For the Icing:

1. Whisk together the cream cheese and vanilla until smooth. Gradually add in the powdered sugar, mixing well after each addition. If the icing is too thick, add in a splash of milk until you get it to a drizzling consistency.
2. Pour the icing over the warm cinnamon rolls and streusel.