In a large mixing bowl, whisk together the warm milk and granulated sugar. Sprinkle the yeast on top and let it sit for 5 minutes until foamy.

Stir in the melted butter and egg, then gradually add the flour and salt. Mix until a dough forms.

Knead the dough on a floured surface for 5-7 minutes until smooth and elastic. (Alternatively, use a stand mixer with a dough hook for 3-5 minutes.)

Transfer the dough to a greased bowl, cover with a towel, and let it rise in a warm place for 1 to 1½ hours, or until doubled in size.

In a small bowl, mix together softened butter, brown sugar, and cinnamon until well combined.

Once the dough has risen, punch it down and roll it out into a 14×9-inch rectangle on a floured surface.

Spread the cinnamon filling evenly over the dough, making sure to reach the edges.

Tightly roll the dough into a log from the longer side and cut it into 12 equal pieces using a sharp knife or dental floss.

Arrange the cinnamon rolls in a greased 9×13-inch baking dish, leaving space between each roll. Cover and let rise for another 30-45 minutes.

Preheat your oven to 350°F (175°C).

Bake the rolls for 20-25 minutes, or until golden brown and fluffy.

While the rolls bake, beat together the cream cheese and butter until smooth.

Add the powdered sugar and vanilla extract, mixing until creamy.

Spread the frosting over warm cinnamon rolls and serve immediately!