Perfect Cinnamon Rolls

I've made these for ten years and they're always soft with the perfect texture--as long as you don't add too much flour. Sometimes I spread homemade raspberry jam on the dough before filling and rolling it--it makes them moist as well as tasty. If you want something fun and new, add chocolate chips and tiny marshmallows inside for a rocky road effect: highly satisfying.

for dough:
1 c skim milk
5 T butter
2 eggs
4 1/2 c flour
1/3 c sugar
1/2 t salt
1 1/2 T yeast

for filling:
1 c packed brown sugar
1/4 c flour
1 T cinnamon
1/2 c softened butter
1/2 c walnuts

Warm milk, butter and eggs until butter begins to melt. Pour into bucket of bread machine and add the rest of the ingredients. Set to dough cycle and when the dough is ready roll it out into a rectangle. Mix the five ingredients for the filling, spread half on the dough then roll it up jellyroll style, slicing into 12 equal portions and placing in a greased 9 x 13 pan. Let them raise for a half an hour and then top with the remaining streusel mix. Bake at 350 for 28-29 minutes and drizzle with glaze when cooled (powdered sugar moistened with flavored syrups such as hazelnut, caramel and raspberry make a great glaze).

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