heat milk, sugar and salt
Heat milk, sugar and pinch of salt in a saucepan over medium heat. Stir occasionally with a wooden spoon, until the sugar dissolves completely. Place aside and let it cool.
dissolve the yeast
In a large bowl of a stand mixer dissolve the yeast with water. Stir with a wooden spoon and put aside for 10 minutes.
Add the eggs and the milk to the yeast mixture, mix well. Gradually start adding the flour and the melted butter to the mixture, kneading constantly until the dough is elastic. Knead with the dough hook, if using a stand mixer or by hands on a floured surface for 5 minutes. Put the dough in a buttered bowl, cover with a cloth or plastic wrap and let rise on a room temperature for an hour or until doubled in size.TipDo not add too much flour. The dough still needs to stick to your hands.
Punch down the dough. Transfer the dough from the bowl to a lightly floured working surface. Divide the dough in half. Roll each piece to 12x8 inch (20x30 cm) rectangle. Prepare the filling. In a bowl, mix together brown sugar, ground walnuts, cinnamon and melted butter. Spread evenly over the dough. Cut each roll into 13 rolls and place them on a baking tray, lined with parchment paper. Cover with a cloth and let rise on room temperature for 50 minutes, or until it double in size.TipInstead of using parchment paper, you can also butter you baking pan well.Do not place cinnamon rolls too close together.
bake and serve
Preheat the oven to 200°C / 400°F. Bake for 20 - 25 minutes. Meanwhile prepare the glaze. In a small bowl, mix melted butter, icing sugar, hot milk and the vanilla bean. Brush over still hot cinnamon rolls, then leave to cool.