Set aside 1 cup of all-purpose flour from the total amount.
Mix the remaining flour, sugar, salt, and yeast in a large bowl.
Heat water, milk, and unsalted butter until hot (125-130 degrees F).
Stir the hot liquids into the dry mixture. Mix in enough reserved flour to form a soft dough that doesn't stick to the bowl.
Turn out onto a floured board and knead until smooth and elastic (~8-10 minutes).
Cover the dough with a damp tea towel and let it rest for 10 minutes.
Roll out the dough on a floured surface, using a rolling pin to create a roughly 13 x 19-inch rectangle.
Spread softened salted butter on the dough and sprinkle brown sugar and cinnamon evenly over the butter. Starting from one long side, tightly roll the dough into a jelly roll.
Cut into 12-14 slices, ensuring even size, and place them cut-side down in a well-buttered 9x13-inch baking pan, allowing the rolls to touch.
Cover with a damp tea towel and let rise until doubled in bulk (~40-50 minutes).
Preheat the oven to 350 degrees F.
Bake until the internal temperature reaches 190 degrees F on an instant-read thermometer (~25-30 minutes).
Cool the rolls for 10-15 minutes.
In a medium-sized bowl, combine all five glaze ingredients. Using a wooden spoon or electric hand mixer, beat until smooth.
Drizzle the prepared glaze over the cinnamon rolls. Serve and enjoy!