In a large mixing bowl, whisk together warm milk, active dry yeast, egg, melted butter, granulated sugar, and salt. Allow the mixture to sit for about 5–10 minutes until frothy.

Gradually add in all-purpose flour to the yeast mixture, mixing until a dough forms. Add more flour if the dough is sticky.

Knead the dough for about 3 minutes until smooth. Place in a greased bowl, cover, and let rise for 1 hour or until doubled.

Prepare the filling by mixing softened butter, brown sugar, and ground cinnamon until combined.

Once the dough has risen, punch it down and roll into a 17x10-inch rectangle.

Spread the cinnamon filling over the dough, then roll tightly into a log and cut into 8 equal pieces.

Place the cut rolls in a greased baking pan, cover, and let rise for another 30 minutes.

Preheat oven to 350°F. Brush rolls with remaining melted butter and bake for 20-25 minutes until golden brown.

While baking, combine cream cheese, softened butter, vanilla extract, and sifted powdered sugar until smooth.

Spread the frosting over warm rolls before serving.