Preheat oven to 375°F.
Lightly spray a 8-9 inch circular cake pan or pie dish with nonstick cooking spray. Melt butter in a small saucepan or in microwave and allow to cool slightly.
To the bowl of a stand mixer fitted with the hook attachment, sift all the dry ingredients. With the mixer on low, slowly pour in buttermilk, vanilla, and melted butter. Let mixture knead for 2-3 minutes on medium speed until a smooth dough forms.
Turn dough out on to a lightly floured surface and knead for an additional 2-3 minutes adding a sprinkle of flour as needed, until dough is smooth and supple. Let rest for 10 minutes while you prepare you filling.
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For the filling, in a medium bowl, combine softened butter, brown sugar, cinnamon and salt. Mix thoroughly until totally combined and set aside.
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Add a light dusting of flour to your work surface and roll the dough out to approximately 13"x19" rectangle. Using an offset spatula, evenly spread the filling over the dough, leaving a 1/2 border around the outside.
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Starting at the edge closest to you, begin tightly rolling the dough into a pinwheel. Lightly pinch the edge to the roll to seal shut.
Using a serrated knife, trim the very ends of both sides of the log off. Cut the log into 9 equal portions and arrange in your baking pan, giving each roll a light press to flatten slightly.
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Bake at 375°F for 10 minutes, then reduce heat to 350°F and bake for an additional 18-20 minutes until lightly golden and gooey.
For the glaze, in a small bowl, add confectioners sugar and enough milk to reach desired consistency.
Allow rolls to cool slightly before topping with glaze.
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