Activate the yeast: Combine warm milk, yeast, and sugar in a large bowl. Let sit 5–10 minutes until foamy.

Make the dough: Add melted butter, egg, and salt. Mix in flour, one cup at a time, until a soft dough forms. Knead 5–7 minutes by hand (or 3–4 minutes in a mixer) until smooth and elastic.

First rise: Place the dough in a greased bowl, cover, and let rise for 1–1½ hours until doubled.

Roll + fill: Roll dough into a large rectangle about ¼-inch thick. Spread softened butter evenly, then sprinkle the cinnamon-brown sugar mixture generously over the top.

Roll + cut: Roll tightly from the long edge. Using dental floss or a sharp knife, cut into 10–12 rolls.

Second rise: Place rolls in a greased baking dish, cover, and let rise 30–45 minutes until puffy.

Bake: Bake at 350°F for 22–25 minutes until just golden.

Glaze: Whip cream cheese, butter, powdered sugar, vanilla, and milk until smooth. Spread generously over warm rolls.