Put ingredients in bread machine pan in this order (if your bread machine has specific instructions about loading liquids vs. solids follow your machine’s recommendations!)
1 cup milk
1/4 cup butter
3 1/3 cups flour
1/4 cup sugar
1 teaspoon salt
2 teaspoons yeast
I use the rapid dough setting on my machine. (Whatever setting gets you dough as quickly as possible will work!) Once the dough is ready let it rest for 5 minutes or so, and then roll out to a large rectangle, about 1/4 inch thick.
Melt 1/4 cup butter, spread over dough rectangle
Mix 1/2 cup sugar
3 teaspoons cinnamon
1/2 teaspoon nutmeg
Sprinkle evenly over butter
Roll the dough from the short end until you reach the other end. I find it works best if you pull the dough slightly as you roll it to form a nice tight roll. Seal the seam on the other end. Brush the log with melted butter. Let rest for 5 minutes. Spread any remaining melted butter in 9×13 pan.
Slice the dough log into approximately 1” slices and place in 9×13 pan. You can let them rise a little more at this point, but I usually just turn on the oven and put them in so they are in there as it heats up! Bake until golden brown at 350. (With my electric convection oven this was about 15 minutes, but it may be as little as 10-12 minutes or as much as 25 depending on your oven–just watch them!)
Remove from oven and let cool just slightly. Cover with glaze recipe below.
1/8 cup milk
1 cup confectioner’s sugar
1 teaspoon vanilla
Mix milk and confectioner’s sugar in a small saucepan. Add vanilla and heat while whisking until sugar is melted and glaze is a thinner consistency. Spread over the tops of cinnamon rolls.