Instructions

for the dough

Whisk ¼ cup (1¼ ounces) all-purpose flour and ⅔ cup water in small bowl until smooth. Microwave mixture, whisking every 20 seconds, until thickened to pudding-like paste, 60 to 80 seconds. Whisk until smooth.
In bowl of stand mixer, whisk flour paste and ⅔ cup whole milk until smooth. Add 1 large egg and 1 large yolk and whisk until incorporated. Add remaining 3¼ cups (16¼ ounces) flour and 2¼ teaspoons instant yeast. Fit mixer with dough hook and mix on low speed until cohesive mass forms and no dry flour remains, 1 to 2 minutes. Turn off mixer, cover bowl with dish towel or plastic wrap, and let sit for 15 minutes.
Add ¼ cup (1¾ ounces) granulated sugar and 1½ teaspoons table salt to dough. Knead on medium-low speed for 5 minutes. Add 6 tablespoons softened unsalted butter, cut into 6 pieces, and continue to knead until incorporated, scraping down dough hook and bowl as needed (dough will be sticky), about 5 minutes longer.
Transfer dough to lightly floured counter and knead briefly to form smooth ball. Transfer dough seam side down to greased large bowl, cover tightly with plastic, and let rise at room temperature until doubled in size, about 1 hour.

for the filling

In now-empty stand mixer fitted with paddle, beat 1½ cups packed (10½ ounces) dark brown sugar; 6 tablespoons softened butter, cut into 6 pieces; 3 tablespoons instant espresso powder; 1½ teaspoons ground cinnamon; and ¼ teaspoon salt on medium speed until mixture has consistency of wet sand, 1 to 2 minutes, scraping down bowl as needed.
Spray 13 by 9-inch baking pan with vegetable oil spray. Transfer dough to lightly floured counter and lightly flour top of dough. Pat dough into 8-inch square. Roll and stretch dough to form 18 by 15-inch rectangle with long side parallel to counter’s edge. Using your fingers, crumble filling evenly over dough, leaving 1-inch border along top edge; gently press filling to adhere.
Beginning with long edge nearest you, loosely roll dough away from you into even log, pushing in ends to create even thickness. Pinch seam to seal. Roll log seam side down and slice crosswise into 12 equal portions. Place rolls cut side down in prepared pan. Cover tightly with plastic and let rise until rolls are puffy and touching one another, about 1 hour.
Adjust oven rack to middle position and heat oven to 350 degrees. Discard plastic wrap. Drizzle ⅔ cup room temperature whole milk evenly over rolls. Spray sheet of aluminum foil with vegetable oil spray and cover pan, sprayed side down. Bake for 25 minutes. Discard foil and continue to bake, uncovered, until rolls are light golden and centers register at least 190 degrees, about 14 minutes longer.

for the glaze

Meanwhile, whisk 3 tablespoons maple syrup, 2 tablespoons whole milk, 1 tablespoon instant espresso powder, 1 teaspoon vanilla extract, and ⅛ teaspoon salt in medium bowl until espresso powder is dissolved. Whisk in 2 cups (8 ounces) confectioners’ sugar until smooth.
Transfer pan to wire rack and drizzle rolls with ½ cup glaze. Let rolls cool in pan for 30 minutes. Whisk remaining glaze to recombine, then pour over rolls, spreading with offset spatula to cover. Serve.TO MAKE AHEAD: After transferring rolls to prepared pan in step 7, cover pan tightly with plastic wrap and refrigerate for up to 24 hours (do not let rolls rise at room temperature). When ready to bake, proceed with step 8, increasing covered baking time by 5 minutes.