In a large mixing bowl or stand mixer bowl fitted with a dough hook, combine the warm milk, granulated sugar, and yeast. Let sit for about 5 minutes until foamy.

Add the flour, brown sugar, melted butter, egg, vanilla extract, salt, and cinnamon. Mix on low speed until combined, then knead on medium-low speed for 8–10 minutes until the dough becomes soft, springy, and slightly tacky without sticking to your fingers.

Transfer the dough to a lightly greased bowl. Cover and let rise in a warm place for 1½ to 2 hours, or until doubled in size.

Grease a 9×13-inch baking dish with butter or baking spray.

Turn the dough onto a floured surface and roll into a 12×24-inch rectangle.

Step 6: Add the Filling

Spread the softened butter evenly over the dough, leaving a ½-inch border on one long side. In a small bowl, mix the brown sugar and cinnamon, then sprinkle evenly over the butter.

Starting from the long side opposite the border, roll the dough tightly into a log. Slice into 12 equal Cinnamon Rolls using a serrated knife or unflavored dental floss.

Place the rolls into the prepared baking dish. Cover loosely and let rise for about 1 hour until puffy and nearly doubled.

Preheat the oven to 350°F. Bake the Cinnamon Rolls for 20–25 minutes until lightly golden brown.

Beat together cream cheese, butter, vanilla, and salt until smooth. Add powdered sugar and mix until combined. Add milk as needed for desired consistency.

Spread one-third of the glaze over the warm rolls straight from the oven. Let cool for 5 minutes, then spread the remaining glaze over the top. Serve warm.