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

2. Add remaining sugar, melted butter, egg, and salt. Gradually mix in flour until a soft dough forms.

3. Knead dough on a floured surface for 5–7 minutes, or until smooth and elastic. Place in a greased bowl, cover, and let rise until doubled (1 to 1.5 hours).

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

5. Punch down the dough and roll into a 16×12-inch rectangle. Spread filling evenly across the surface.

6. Roll dough tightly from the long edge into a log. Slice into 12 rolls.

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

8. Preheat oven to 350°F (175°C). Bake rolls for 22–25 minutes, until golden brown and cooked through.

9. For glaze, whisk together powdered sugar, milk, vanilla, and cream cheese (if using) until smooth. Drizzle over warm rolls and serve.