Thanks Judy. Good suggestions but I don't think it was the water because I check the temperatures and if it was too hot it would have killed the yeast - I got plenty of rise, they just baked hard. If anything, I think they may have overproofed. Maybe that was it.

The dough was slightly sticky, even kneaded for a long while in my Kitchen Aid. The recipe was something like 1/2 cup warm water plus 1 pkg of yeast, 2 cups milk + 1 stick of butter heated, then 6 1/2 cups of flour. 350 for 45 minutes. It made a large batch - 3 pans worth. there should have been enough fat in the recipe to tenderize the dough.

I've just never had good luck with soft cinnamon rolls. how do people do it? Underbake? Lower temp? Less time?

Anyone have a decent, foolproof recipe? Dang Martha Stewart.