Prepare the Dough

1. Activate the Yeast: In a small bowl, combine warm milk, sugar, and yeast. Stir gently and let it sit for 5 minutes until it becomes frothy.
2. Make the Dough: In a large mixing bowl, combine flour and salt. Add the yeast mixture, melted butter, and egg. Stir until a dough forms.
3. Knead the Dough: Turn the dough onto a floured surface and knead for about 5-7 minutes until it’s smooth and elastic.
4. Let the Dough Rise: Place the dough in a lightly greased bowl and cover with a clean towel. Let it rise in a warm place for about 1 hour, or until doubled in size.

Assemble the Cinnamon Rolls

1. Roll the Dough: After the dough has risen, punch it down and turn it onto a floured surface. Roll it out into a 12×18-inch rectangle.
2. Add the Filling: Spread softened butter over the dough. Mix the brown sugar and cinnamon in a bowl, then sprinkle the mixture evenly over the buttered dough.
3. Roll It Up: Starting at one long edge, carefully roll the dough into a tight log.
4. Cut the Rolls: Slice the rolled dough into 12 even pieces.
5. Second Rise: Place the rolls in a greased 9×13-inch baking dish. Cover with a towel and let them rise for another 30 minutes.

Bake the Rolls

1. Preheat Oven: Preheat your oven to 375°F (190°C).
2. Bake: Once the rolls have risen, bake them in the preheated oven for 25-30 minutes or until golden brown.

Make the Glaze

1. Mix the Glaze: While the rolls are baking, beat together the softened cream cheese, powdered sugar, vanilla extract, and milk until smooth and creamy. Add more milk if needed to reach your desired glaze consistency.

Finish the Rolls

1. Glaze the Rolls: Once the cinnamon rolls are out of the oven, allow them to cool for about 15 minutes, then drizzle the cream cheese glaze over the top while they’re still warm.