In a small saucepan, whisk together the milk and flour. Put it over medium heat and whisk 2-3 minutes. Use a spatula once it starts to thicken. The mixture should be thick and leave the bottom of the pan.
Cinnamon Roll Dough
In a mixing bowl, add the tangzhong and all of the dough ingredients. Mix by hand for 15 minutes. Or use the mixer for 10 minutes on medium-low with the bread hook.
Cover with plastic wrap and rise 60-90 minutes.
Filling
Whisk together the filling ingredients.
Rolls
Remove dough gently onto parchment, mat or counter. Roll dough to form a 10x12" rectangle.
Spread the filing over the dough. Press down gently. Do NOT put filling on the top 1" of dough on the long side.
Roll dough starting with the long side towards you.
Take dental floss and use this to cut 8 or 12 cinnamon rolls. 12 cinnamon rolls are about 1" high. Or 8 cinnamon rolls for larger 1.5" to 2" rolls.
Prep a rimmed cookie sheet with parchment paper. Put rolls on there at least 2" apart.
Cover rolls with plastic wrap that has been sprayed with cooking spray to avoid sticking. Rise for 30-60 minutes.
After 20-40 minutes, turn the oven to 375 degrees. Then it should be about 30-60 minutes of total rise time. Bake 14 minutes for the 12 rolls which are smaller or 15-18 minutes for the 8 rolls which are bigger. They should barely be golden brown and not raw in the center.
Icing
While the rolls cool, whisk together the icing ingredients. Drizzle icing onto the rolls after they have cooled slightly. If you are not going to serve immediately, just cover the icing until later