In a large saucepan, add in the evaporated milk, butter, and sugar. Place over medium heat and stir occasionally.
Once the butter is melted and the milk is steaming with small bubbles forming around the edges of the pan, remove from the heat and let cool to room temperature. Stir occasionally while it's cooling. It took about 20 minutes to cool to room temperature for me.
Once it's room temperature or barely warm, add in the yeast and 4 cups of flour. Stir until just combined. It will be super sticky.
Cover with a clean towel while still in the saucepan.
While the towel is still on, turn the burner on low heat and let heat up for about 2 - 3 minutes. Turn the heat off and let it rise until doubled. It will take about 1 hour.
While the dough is rising, add the remaining ½ cup of flour, baking powder and baking soda in a small bowl and stir to incorporate. Set aside.
Once the dough is doubled, add in the flour mixture and stir until just combined.
Rest the dough in the fridge for an hour or two to make it easier to handle. I skipped this step.
I placed a piece of parchment paper down and sprinkled 2 T. flour on it.
Place dough onto the floured parchment paper and sprinkle another 1 tablespoon of flour on top. I rolled the dough out into a large rectangle with a ¼ inch thickness. Try to keep the dough in a rectangle as you roll it out.
Spread the room temperature butter evenly onto the rolled out dough.
Mix the brown sugar, granulated sugar and cinnamon in a small bowl. Sprinkle the sugar mixture all over the dough. Be sure to evenly spread out the sugar so there are no bare spots.
Press the sugar down into the dough.
Starting at the long end, roll the dough into a log. I use the parchment paper and pull it away from me to give me a tight roll on the cinnamon rolls.
Pinch the dough along the log so it holds together when it's sliced. Push in both ends of the log and pinch it to keep the filling inside.
Mark out where you'll want to cut the dough. Try for 15 rolls.
Grab a long piece of floss and slide it underneath the log. Crisscross the floss and pull together to cut the rolls.
Place the rolls into a greased 9x13 cake pan. Cover with plastic wrap and place into the fridge overnight.
In the morning, preheat the oven to 375 degrees. Pull out the cinnamon rolls and sit on the counter to come to room temperature while the oven is preheating.
Remove the plastic wrap and bake in the preheated oven for 30 - 33 minutes or until done. They tops will be golden brown. Tug on one of the center rolls and if it looks doughy, let it bake a little longer and check on it again.
While the cinnamon rolls are baking, make the frosting to put on the rolls while they're still hot.
In a large bowl, add in the powdered sugar, butter, milk, strong brewed coffee, and maple extract. Stir until smooth. Pour the frosting over top of the hot cinnamon rolls. You can add as much or as little as you would like.