Homemade Cinnamon Rolls with Sugar-Free Frosting Recipe

ByNoah Steele
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Introduction

Cinnamon rolls are a beloved sweet treat perfect for breakfast or dessert. These tender, fluffy rolls layered with cinnamon sugar and topped with creamy icing are sure to delight your family and friends. Making them at home is easier than you think!

The image shows two cinnamon rolls on white plates with a light blue tint, each topped with smooth white icing that drips slightly down the sides. The cinnamon roll in the foreground is cut open, showing soft, golden brown dough swirling with a rich, dark cinnamon filling, and a piece is held on a silver fork resting on the plate. The roll in the background is whole with icing covering the top. A clear glass cup filled with black coffee sits next to the plates on a white marbled surface, with a dark blue cloth napkin open beside it. Two cinnamon sticks lie near the bottom right corner. The scene is bright and clean. photo taken with an iphone --ar 4:5 --v 7

Ingredients

  • 1/4 cup Truvia® Sweet Complete® Granulated All-Purpose Stevia Leaf Sweetener
  • 3 3/4 cups All-Purpose Flour
  • 1 teaspoon Salt
  • 2 packets Instant Dry Yeast
  • 1 cup Whole Milk
  • 1 Egg
  • 1/4 cup Unsalted Butter
  • 1/2 cup Truvia® Sweet Complete® Granulated All-Purpose Stevia Leaf Sweetener (for filling)
  • 1 tablespoon Ground Cinnamon
  • 2 ounces Cream Cheese
  • 1/3 cup Truvia Sweet Complete® Confectioners Stevia Leaf Sweetener
  • 1/2 teaspoon Pure Vanilla Extract
  • 2 tablespoons Unsalted Butter (for icing)

Instructions

  1. Step 1: Prepare a homemade proofer by preheating the oven to 200°F (90°C) with a pan of water on the bottom rack. Let it heat for 5 minutes, then turn off the oven.
  2. Step 2: Grease a 13×9-inch baking dish and set aside.
  3. Step 3: In a mixing bowl, combine 3 cups of flour, 1/4 cup sweetener, salt, and yeast. Mix on low for 1-2 minutes to blend.
  4. Step 4: Warm the milk and 1/4 cup butter in the microwave for 30-40 seconds until between 120-130°F (50°C).
  5. Step 5: Pour half of the warm liquid into the dry ingredients and mix on low speed.
  6. Step 6: Add the egg, then the remaining liquid, combining on low speed until the mixture is moist.
  7. Step 7: Increase to medium speed and mix for 3 minutes.
  8. Step 8: Reduce to low speed, add 1/4 cup flour, and mix until combined.
  9. Step 9: Transfer the dough to a surface floured with 1/2 cup flour and knead for 8-10 minutes until smooth and all flour is incorporated.
  10. Step 10: Place the dough in a greased bowl, cover, and let rest for 10 minutes to hydrate the yeast.
  11. Step 11: While resting, prepare the filling by mixing cinnamon and 1/2 cup sweetener.
  12. Step 12: Roll out the dough into a 14×8-inch rectangle on a lightly floured surface, flipping the dough as needed to shape evenly.
  13. Step 13: Spread 1/4 cup butter evenly over the dough.
  14. Step 14: Sprinkle the cinnamon-sweetener mixture evenly on top.
  15. Step 15: Roll the dough tightly into a 14-inch log.
  16. Step 16: Cut the log into 14 equal pieces and arrange them in the prepared baking dish.
  17. Step 17: Cover with plastic wrap and place in the homemade proofer for 60-90 minutes until doubled in size.
  18. Step 18: Preheat the oven to 375°F (180°C) while removing the rolls from the proofer.
  19. Step 19: Bake the rolls for 18-20 minutes until golden around the edges.
  20. Step 20: Cool the rolls on a wire rack.
  21. Step 21: Prepare the icing by whisking cream cheese, confectioners sweetener, vanilla extract, and 2 tablespoons butter until smooth.
  22. Step 22: Spread or drizzle the icing over the cooled cinnamon rolls before serving.

Tips & Variations

  • For extra softness, brush melted butter on top of the rolls right after baking before adding icing.
  • Substitute Truvia sweetener with brown sugar for a more traditional flavor.
  • Add chopped nuts or raisins to the filling mixture for added texture.
  • If you don’t have a proofer, a warm spot in your kitchen covered with a damp towel works well for dough rising.

Storage

Store cinnamon rolls in a sealed container at room temperature for up to 2 days to keep them tender. For longer storage, refrigerate for up to a week or freeze for up to 3 months. Reheat gently in the microwave or oven before serving to refresh softness.

How to Serve

Two cinnamon rolls with white icing sit on separate light blue plates on a white marbled surface. The front roll shows a soft, golden brown outer layer with a darker cinnamon swirl center covered by smooth, creamy white icing drizzled on top. A piece of the front roll is lifted by a silver fork, revealing a sticky, gooey inner layer with cinnamon filling and a moist texture. The second cinnamon roll in the background is partially eaten, showing the same golden brown and cinnamon layers. A glass cup with dark black coffee, a blue cloth napkin, two cinnamon sticks, and a silver fork add detail around the plates. photo taken with an iphone --ar 4:5 --v 7

Serve this delicious recipe with your favorite sides.

FAQs

Can I make the dough ahead of time?

Yes, you can prepare the dough, shape the rolls, and refrigerate them overnight. Let them come to room temperature and rise until doubled before baking.

Can I use a different sweetener?

Absolutely. While this recipe uses Truvia®, you can substitute with regular sugar or brown sugar. Note that the texture and sweetness level may vary slightly.

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Homemade Cinnamon Rolls with Sugar-Free Frosting Recipe

★★★★★

4.6 from 120 reviews
  • Author: Noah
  • Total Time: 2 hours 20 minutes
  • Yield: 14 cinnamon rolls 1x
  • Diet: Low Calorie
Print Recipe

Description

Indulge in these healthier Cinnamon Rolls sweetened with Truvia® Stevia Leaf Sweetener, offering a delightful balance of sweetness without the added sugar. Soft, fluffy dough wrapped around a cinnamon-spiced filling and topped with creamy vanilla-cream cheese icing makes for the perfect guilt-free treat to enjoy any time of day.

Ingredients

Scale

Dough

  • 1/4 cup Truvia® Sweet Complete® Granulated All-Purpose Stevia Leaf Sweetener
  • 3 3/4 cups All-Purpose Flour (divided: 3 cups + 1/4 cup + 1/2 cup for kneading and rolling)
  • 1 teaspoon Salt
  • 2 packets Instant Dry Yeast
  • 1 cup Whole Milk
  • 1 Egg
  • 1/4 cup Unsalted Butter

Filling

  • 1 tablespoon Ground Cinnamon
  • 1/2 cup Truvia® Sweet Complete® Granulated All-Purpose Stevia Leaf Sweetener
  • 1/4 cup Unsalted Butter (softened for spreading)

Icing

  • 2 ounces Cream Cheese
  • 1/3 cup Truvia Sweet Complete® Confectioners Stevia Leaf Sweetener
  • 1/2 teaspoon Pure Vanilla Extract
  • 2 tablespoons Unsalted Butter

Instructions

  1. Prepare homemade proofer: Preheat the oven to 200°F (90°C) and place a pan of water at the bottom to create a warm, humid environment. Let it warm for 5 minutes, then turn the oven off.
  2. Grease baking dish: Lightly grease a 13×9 inch baking dish and set aside for later.
  3. Mix dry dough ingredients: In a large mixing bowl, combine 3 cups of all-purpose flour, 1/4 cup Truvia sweetener, 1 teaspoon salt, and 2 packets instant dry yeast. Mix on low speed for 1-2 minutes to blend.
  4. Warm milk and butter: In a microwave-safe bowl, heat the whole milk and 1/4 cup unsalted butter for 30-40 seconds until warm (120-130°F or 50°C).
  5. Combine liquids and dry mix: Pour half of the warm milk-butter mixture into the dry ingredients and mix on low.
  6. Add egg and remaining liquids: Incorporate the egg, then add the remaining milk-butter mixture. Mix on low speed until the dough is moist.
  7. Mix dough thoroughly: Increase the mixer speed to medium and mix the dough for 3 minutes to develop gluten.
  8. Add more flour: Lower mixer speed and add 1/4 cup more flour; mix until fully combined.
  9. Knead dough: Turn the dough out onto a surface lightly dusted with 1/2 cup flour and knead for 8-10 minutes until the dough is smooth and no flour remains.
  10. Initial dough rest: Place the kneaded dough in a greased bowl and let rest for 10 minutes to hydrate the yeast properly.
  11. Prepare cinnamon filling: While dough rests, mix 1 tablespoon ground cinnamon with 1/2 cup Truvia sweetener in a bowl and set aside.
  12. Roll out dough: Roll the dough into a roughly 14×8 inch rectangle, flipping and shaping it carefully for evenness.
  13. Spread butter and sprinkle cinnamon sugar: Evenly spread 1/4 cup softened butter over the rectangle, then sprinkle the cinnamon-sweetener mixture evenly on top.
  14. Roll dough log: Tightly roll the dough lengthwise into a 14-inch log shape.
  15. Slice rolls: Cut the log into 14 equal pieces and place them in the prepared greased baking dish.
  16. Second rise: Cover the rolls with plastic wrap and place the pan inside the homemade proofer for 60-90 minutes or until the rolls double in size.
  17. Preheat oven: Remove the rolls from the proofer. Preheat your oven to 375°F (180°C).
  18. Bake rolls: Bake the rolls for 18-20 minutes or until the edges turn golden brown and the crust is set.
  19. Cool rolls: Transfer the cinnamon rolls to a wire rack and allow them to cool completely before icing.
  20. Prepare icing: In a small bowl, whisk together 2 oz cream cheese, 1/3 cup Truvia confectioners sweetener, 1/2 teaspoon vanilla extract, and 2 tablespoons unsalted butter until smooth.
  21. Ice the rolls: Spread the cream cheese icing evenly over the cooled cinnamon rolls or drizzle using a sandwich bag with a cut corner.
  22. Storage: Store leftover cinnamon rolls in a sealed container to maintain tenderness and freshness.

Notes

  • Make sure the milk and butter are warm but not hot to avoid killing the yeast.
  • Kneading the dough well develops gluten for a fluffy texture.
  • The homemade proofer creates ideal conditions for yeast to rise properly.
  • Do not skip the cooling step before icing to prevent melting the frosting.
  • Use Truvia sweeteners to keep these cinnamon rolls lower in sugar than traditional recipes.
  • Keep the rolls covered after baking to maintain their softness.
  • Rolling tightly helps achieve uniform swirl patterns.
  • Prep Time: 30 minutes
  • Cook Time: 20 minutes
  • Category: Dessert
  • Method: Baking
  • Cuisine: American

Keywords: Cinnamon Rolls, Low Sugar Cinnamon Rolls, Truvia Cinnamon Rolls, Healthy Cinnamon Rolls, Cream Cheese Icing, Baked Dessert

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