In a large bowl or stand mixer, mix the warm milk, yeast, and a pinch of sugar. Let it sit for 5–10 minutes until foamy.

Pour in the remaining sugar, melted butter, egg, and salt. Gradually add the flour, mixing until a soft dough forms for about 3-5 minutes.

Turn the dough out onto a floured surface and knead for 5–7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a cloth, and let it rise in a warm spot until doubled in size, about 1 to 1.5 hours.

In a small bowl, combine the softened butter, brown sugar, and cinnamon to create the filling.

Punch down the raised dough and roll it into a 16×12-inch rectangle. Spread the filling evenly on the dough.

Starting from the long edge, roll the dough tightly into a log. Slice into 12 equal pieces.

Place the rolled slices in a greased 9×13-inch baking dish. Cover and let rise again for 30–40 minutes.

Preheat the oven to 350°F (175°C). Bake for 22–25 minutes, until golden brown.

For the glaze, whisk together the powdered sugar, milk, vanilla, and cream cheese until smooth. Drizzle over warm rolls.