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Place 1 tablespoon of the sugar, warm milk, and yeast in a standing mixer bowl, whisk it, and let sit for 5 to 7 minutes or until it begins to foam.
Next, add the flour, remaining sugar, and ½ stick of melted butter and mix with the hook attachment until combined at medium speed.
Add 1 egg until combined, then mix on low speed for 3 to 4 minutes.
Wrap the bowl with plastic wrap and set it in a warm place until it has doubled in size.
Roll out the dough on a clean surface lightly dusted with flour until the dough is roughly 18”x 24” inches in size.
Evenly drizzle on 1 stick of melted butter, brown sugar, and cinnamon, covering all surface areas.
Roll the dough from back to front and slice it into 2-inch wide slices.
Place them in a 13” x 9” casserole dish, cut side up about 1 inch apart from each other, wrap them in plastic, and let them sit for another hour or until they’ve doubled in size.
Bake the cinnamon rolls for 25 to 30 minutes at 375° or until they are browned on the top and cooked in the center.
While the cinnamon rolls are baking, whip together the butter, cream cheese, sugar, vanilla, and whole milk in a standing mixer using the whisk attachment until it is light and fluffy.
Once the cinnamon rolls are done pour the icing all over the top and serve warm.