Grandma's Caramel Rolls - Sarah's version

1 package active dry yeast (about 2 1/4 teaspoons)
3/4 cup warm non-fat milk
1/3 cup sugar
3 tablespoons unsalted butter, softened
1/2 teaspoon salt
1 egg
3 cups all-purpose flour
5 tablespoons butter, softened
2/3 cup brown sugar
1 tablespoon cinnamon
2 tablespoons flour
1/4 teaspoon salt
1/3 c butter
1/2 c brown sugar
1/2 c vanilla ice cream

Place milk in a microwave safe measuring cup. Heat for 45 seconds in the microwave, until it’s about 120°F. (The time you heat it will need to be adjusted depending on your microwave. You can use a candy or a meat thermometer to test the temperature.) Add yeast and stir. Let it sit for a few minutes.
Place sugar, butter, salt, and egg in the bowl of a stand mixer fitted with the paddle attachment. Mix until the butter is distributed throughout the liquids, although it may be chunky. Pour in the milk/yeast mixture and stir for a few seconds.
Add flour and stir with the paddle attachment just until the mixture starts to stick to the paddle. Then replace the paddle with the dough hook. Continue mixing on low speed until the dough forms a ball in the center of the bowl. If dough is still very sticky, you can add an additional 1/4 cup of flour.
Put a little olive oil in a bowl and place the dough ball in it. Roll the dough around in the bowl until it is oiled all over and cover the bowl with plastic wrap. Let sit for 2-4 hours until it doubles in size. Note on rising: if your house is warm, it should rise no problem. If it’s cold in your house, it may take longer for the dough to rise.
Stir together butter, brown sugar, cinnamon, and flour until it forms a paste.
Melt the butter in a saucepan. Add brown sugar and ice cream and bring to a boil. Cook for 2 minutes. Pour into a lightly greased 9x13 pan and let cool.
Once the dough is risen, roll it out on a lightly floured surface into a large rectangle, about 10” by 14”. Spread the filling as evenly as possible over the rectangle, making sure to reach to the sides so the outer rolls have enough filling.
Roll the dough up tightly from the long end. Slice it into 12 equal rounds. Place the rolls into the pan with the caramel.
Cover the rolls with plastic wrap and refrigerate overnight.
When ready to bake, preheat oven to 350°F. Remove the rolls from the refrigerator and let them warm up to room temperature while the oven is preheating. Remove the plastic wrap and bake for 24 minutes, or until they are golden brown.

Source: http://www.crazyforcrust.com/2014/06/perfect-overnight-cinnamon-rolls/