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For the dough: In a small bowl, combine the warm milk, yeast, and granulated sugar. Let sit for 5-10 minutes until foamy and bubbly.
In a large bowl, whisk together the melted butter, salt, and egg. Stir in the yeast mixture.
Add the flour 1 cup at a time, mixing with a wooden spoon or dough hook until a soft dough forms. On a lightly floured surface, knead the dough for 3-4 minutes until smooth, elastic, and not sticky.
Place dough in a lightly greased bowl, cover, and let rise for 1-2 hours or until doubled in size.
For the filling: In a medium bowl, mix the brown sugar and cinnamon.
Punch down the dough to release any air bubbles. On a lightly floured surface, roll the dough into a 16x21-inch rectangle.
Spread the softened butter over the dough, then sprinkle with the brown sugar-cinnamon mixture.
Tightly roll up the dough starting from the short side. Cut into 12 equal pieces.
Place rolls in a lightly greased 9x13 baking pan or two 9-inch round cake pans.
Cover and let rise for 30 minutes.
Preheat oven to 400°F (204°C).
Bake for 15-20 minutes, until golden brown.
For the frosting: In a medium bowl, beat the cream cheese and butter together until smooth. Beat in the confectioners' sugar, vanilla, and salt until combined.
Spread the frosting over the warm cinnamon rolls before serving.