For the Dough

1. In a microwave-safe bowl, heat the milk for about 60 seconds until it reaches 110°F-120°F. Once heated, stir in the sugar until it’s dissolved. Melt the butter and cool.
2. In a stand mixer, combine all the dry ingredients, including the yeast. Then add the melted butter and egg. Using the dough hook, beat the on low speed (speed 1) for 2 minutes. Slowly stream in the milk.
3. Increase the mixing speed to medium and continue beating for another 5 minutes. The dough should be in one large ball but may stick to the sides of the bowl.
4. Turn the dough out onto a well-floured surface. Gently knead until the dough is soft and pliable in one consistent ball. Use your hands to press the dough into a rectangle and roll the dough into a rectangle, about 14×18 inches. It should be at least ¼-inch thick.

For the Filling

1. Spread the softened butter onto the dough from edge to edge. Combine the brown sugar and cinnamon in a bowl, and mix to combine. Pour the sugar mixture over the butter and press into the butter. Leave at least ½ -inch of the buttered dough uncovered with sugar on one of the long edges. This is the side you’ll use the seal the log after it’s rolled. 
2. Tightly roll the dough along the longer edge to form a log, and use the buttered edge to pinch it closed. Use a sharp knife or floss to cut the rolls into 12 even rolls.
3. Place the rolls in a well-greased (or parchment paper-lined) 9×13-inch pan. Cover with plastic wrap and rise for 60-90 minutes in a warm place.
4. Preheat the oven to 375°F. Bake for 20-24 minutes until the tops are lightly browned. Remove from the oven and cool for 10 minutes, then add the frosting.

For the Frosting 

1. Beat the softened cream cheese until it’s free of lumps. Then add the melted butter, milk, and vanilla extract and mix until combined. Next, add the powdered sugar and beat until combined. If you prefer a thicker frosting, add additional powdered sugar 2 tablespoons at a time. To make it thinner, add additional milk 1-2 teaspoons at a time. Frost the rolls while they’re still warm.