1. Prepare the Dough: Start by combining the warm milk, sugar, and yeast in a large bowl. Let it sit for about 5 minutes until it becomes frothy, indicating the yeast is activated. Next, mix in the melted butter, egg, and salt. Gradually incorporate 3 1/2 cups of flour into the mixture, stirring until a soft dough forms. If the dough is too sticky, add a little more flour, one tablespoon at a time. On a floured surface, knead the dough for 5-7 minutes until it is smooth and elastic. Once done, place the dough in a greased bowl, cover it with a towel, and let it rise in a warm spot for around 1 hour, or until it has doubled in size.

2. Prepare the Filling: In a small bowl, blend the brown sugar and ground cinnamon until well combined, creating a sweet mixture that will fill your rolls.

3. Assemble the Rolls: After the dough has risen, punch it down gently to release air. Roll it out on a floured surface into a large rectangle, about 1/4-inch thick. Spread the softened butter over the surface of the dough, then generously sprinkle with the brown sugar-cinnamon mixture. Carefully roll the dough into a tight log, starting from one edge. Slice the log into 12 equal pieces and place them in a greased 9×13-inch baking dish.

4. Bake the Rolls: Preheat your oven to 350F (175C). Cover the baking dish with a towel and let the rolls rise for another 30 minutes. Once puffed, bake the rolls for 25-30 minutes or until they are golden brown and irresistible.

5. Prepare the Frosting: While the rolls are baking, make the cream cheese frosting. In a mixing bowl, beat together the softened cream cheese, butter, powdered sugar, and vanilla extract until it’s smooth and creamy. If the frosting is too thick, stir in 1-2 tablespoons of milk to achieve your desired consistency.

6. Frost and Serve: Once your cinnamon rolls are out of the oven and have slightly cooled, spread the luscious cream cheese frosting generously over the top.

Enjoy these fresh, homemade cinnamon rolls that will have everyone coming back for seconds!

Nutritional Information: Approximately 300 calories per roll (without frosting).