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To make the dough: Weigh your flour; or measure it by gently spooning it into a cup, then sweeping off any excess. In a small bowl, mix together all of the dough ingredients then transfer it to a floured surface and knead by hand to form a smooth, soft dough.
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Shape the dough into a ball, place it in a bowl, cover, and let it rise until puffy but not necessarily doubled in bulk, 45 to 60 minutes (depending on the warmth of your kitchen).
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To make the filling: While the dough is rising, use a fork to whisk together the brown sugar, flour, cinnamon, and salt. Set aside.
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Prepare the pan of your choice: Line a quarter- or half-sheet pan with parchment, or lightly grease a loaf pan, 8" or 9" square pan, or round pan.
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To assemble the small-batch cinnamon rolls: Transfer the dough to a lightly floured work surface and press it into a 4" x 10" rectangle.
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Brush the surface of the dough generously with milk and then sprinkle the filling on top, covering all but a 1/2" strip along one short side. Press the filling gently to adhere.
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Cut the dough in half lengthwise using a bench knife. You will now have two rectangles, approximately 2" x 10".
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Starting with the filling-covered short end, roll one piece of dough into a log. To prevent the cinnamon roll from unraveling while it rises and bakes, tuck the end of the spiral underneath the bottom so that it's held in place. Stand the log up, exposing the swirl, and press down to create a shorter cinnamon roll. Transfer it to the prepared pan and repeat with the remaining piece of dough.
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Cover the pan and let the rolls rise for 45 to 60 minutes. The dough will be puffy and shouldn’t bounce back immediately when gently pressed. While the small-batch cinnamon rolls are rising, preheat the oven to 375°F.
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Bake the rolls for 15 to 18 minutes, until a digital thermometer inserted into the center of one roll reads 190°F. Rolls baked on a baking sheet will be golden brown in color, while rolls baked in a pan with higher sides will remain pale. Allow the small-batch cinnamon rolls to cool while you make the icing.
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To make the icing: In a small bowl, combine the confectioners’ sugar and milk until you reach your desired consistency.
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Spread the icing evenly over the cinnamon rolls. Serve warm or at room temperature.
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Storage information: Store any leftovers, covered, at room temperature for several days.
