Make the dough. Whisk the yeast, flour, and salt in a bowl and set it aside.
Microwave the sugar, butter, milk, and water. Use a microwave-safe bowl and heat the mixture in intervals of 20 seconds. You need the temperature to be between 120-130 degrees. Stir.
Form a sticky dough. Add an egg to the flour and yeast mixture and then slowly stir in the warm mixture using a spatula. You can use a dough hook with a mixer on low speed to form the dough quicker. Otherwise, you can knead the dough for about 5 minutes.
Once made, cover with Saran Wrap and let it rest on the counter for about 10 minutes.
Roll out the dough. Use a rolling pin and roll out the dough to be a rectangle. I try to make mine be about 16 inches by 9 inches in size.
Spread the filling. Spread the filling over the top, but leave about a finger-width away from the border. Roll the dough and cut it into 12 even pieces.
Place in the baking dish. Put the cut rolls into a prepared baking dish (9X13) and give them about ½ inch between the two. You should be able to fit about three in a row. Cover the pan with Saran Wrap and let them rise for about 30 minutes.
Bake. Add the baking pan to the lower-middle oven rack and bake for 15-17 minutes at 375 degrees.
Make the glaze. Mix together the ingredients to make the glaze. Once the cinnamon rolls are done baking, drizzle on top.