Warm the milk slightly, then combine it with sugar and yeast in a bowl. Let it sit for about 5 minutes until bubbly.

In a separate bowl, whisk together flour, salt, and cinnamon.

Once the yeast mixture is frothy, mix in the melted butter, egg, and vanilla. Gradually fold in the dry ingredients until you have a dough that is slightly sticky.

Knead the dough on a floured surface until smooth and elastic, about 5 minutes. Place it in a greased bowl, cover, and let it rise in a warm spot until doubled in size, about 1 hour.

Punch down the risen dough, roll it out to a rectangle about 1/4 inch thick. Spread softened butter over the top, sprinkle with brown sugar, cinnamon, and blueberries.

Roll the dough tightly from the long side into a log and cut it into about 12 equal pieces.

Place the rolls in a greased baking dish, cover gently, and let them rise again for about 30 minutes.

Preheat the oven to 350°F (175°C).

Bake the rolls for 25-30 minutes, until golden brown.

While the rolls cool, prepare the glaze by blending cream cheese, powdered sugar, milk, and vanilla until smooth. Drizzle over the warm rolls before serving.