In a stand mixer with the whisk attachment, combine 2 cups of flour, granulated sugar, yeast, and salt on low speed until mixed.

In a microwave-safe bowl, heat the milk and butter until warm and the butter is mostly melted, about 45 seconds. Ensure it’s not too hot to avoid killing the yeast.

Pour the warm milk mixture into the flour mixture and add the egg. Mix on low speed until combined, then increase to high speed and beat for 2 minutes. The dough will resemble a batter, which is correct.

Switch to the dough hook attachment and add 1 ½ cups of flour. Knead on low speed until combined, scraping down the sides of the bowl as needed.

Add the remaining 1 cup of flour and continue kneading on low speed until the dough pulls away from the sides and forms a ball around the hook. Increase to medium-low speed and knead for about 10 minutes until smooth and supple.

If the dough wraps around the hook, stop the mixer, remove the dough, flip it, and continue mixing. The dough is ready when you can stretch a piece without it breaking.

Transfer the dough to a large, lightly oiled bowl, cover it with a dish towel or plastic wrap, and let it rise in a warm place until doubled in size, about 1 hour.

In a medium bowl, mix the softened butter, brown sugar, cinnamon, and a pinch of salt until it forms a paste. Set aside.

Turn the risen dough onto a floured surface and roll it into a rectangle measuring 12 inches by 18 inches, with the longer side facing you.

Spread the filling evenly over the dough using a silicone spatula, reaching the edges.

Starting from the 18-inch side closest to you, roll the dough tightly into a log and seal the seam by pressing it together.

Using a sharp knife or floss, cut the log into 12 equal rolls.

Place the rolls in a 9 x 13-inch pan lined with parchment paper. Cover with a dish towel or plastic wrap and let rise in a warm place until doubled, about 1 hour.

Preheat the oven to 350°F. Remove the cover and bake the rolls until golden brown, about 30 minutes.

Let the pan cool on a wire rack for about 15 minutes.

In a stand mixer with the whisk attachment, combine cream cheese, butter, powdered sugar, 2 tablespoons of milk, vanilla, and a pinch of salt. Beat on low speed until mixed, then increase to medium-high and beat until light and fluffy, about 1 minute.

If the frosting is too thick, add another tablespoon of milk and mix until combined.

Spread the icing over the slightly warm rolls and enjoy!