01 -
In the bowl of a stand mixer, combine warm milk, instant dry yeast, granulated sugar, salt, softened butter, and egg. Add in the flour while mixing on low speed with a dough hook.
02 -
Increase mixer speed to medium and add more flour if necessary until the dough pulls away from the sides of the bowl. Ensure the dough is tacky but not sticky to the touch.
03 -
Transfer the dough to a lightly greased bowl, cover with a towel, and let it rise until it doubles in size, about 1 hour.
04 -
Lightly grease a baking sheet or 9x13 pan. Punch down the dough and roll it into a 12-inch by 18-inch rectangle.
05 -
Brush the rolled-out dough with melted butter. Combine brown sugar and cinnamon in a bowl and sprinkle evenly over the buttered dough.
06 -
Roll the dough tightly lengthwise to form one long roll. Cut the roll into 12 one-inch slices using a sharp knife.
07 -
Place the rolls in the prepared 9x13 pan, cover, and let them rise for 30 to 45 minutes.
08 -
Preheat oven to 325°F. Bake the rolls for approximately 14 minutes, or until lightly browned on top.
09 -
Using a hand mixer, whip together cream cheese and softened butter until light and fluffy. Mix in powdered sugar, vanilla extract, and milk until the glaze reaches a drizzle-like consistency.
10 -
Frost the warm cinnamon rolls with the glaze. Serve immediately or store for up to 4 to 5 days.