Method

At home:

1. Combine yeast with the warm (100-110 degrees Farenheit) milk and the sugar in a large mixing bowl. Let stand for about 5 minutes.
2. Add 3 tablespoons of softened butter, egg and salt. Gradually mix in the flour.
3. Knead dough on a lightly floured surface for a few minutes until the dough forms a ball.
4. Coat a lidded storage container with cooking spray or a little oil. Drop in your dough ball and cover it with a lid. Place in the refrigerator until you’re ready to leave for your trip, at which point you’ll transfer it to a cooler.
5. Make the icing by combining 4 tablespoons of softened butter, the cream cheese, powdered sugar, and vanilla in a mixing bowl. Beat with an electric mixer until smooth and fluffy. Transfer to a storage container and store in the cooler.

At camp:

1. Punch dough down and then knead a few times on a lightly floured surface. Roll into a thin rectangle.
2. Spread 3 tablespoons of softened butter on the dough. Sprinkle with brown sugar and cinnamon.
3. Starting at one end, tightly roll up the dough into a log. Place the log seam side down on a large cutting board or other work surface. Cut into 6 pieces.
4. Preheat your waffle iron over a campfire for a few minutes. When it’s good and hot, spray it with some nonstick cooking spray and carefully place one cinnamon roll inside. Close the waffle iron and cook over a hot campfire until the dough is cooked through, turning and checking frequently.
5. Place the waffle on a plate and cover it with some foil (or place it in a warm dutch oven) to keep it warm while you cook the remaining waffles.
6. Spread a generous amount of icing on top of each cinnamon roll waffle and serve.