In a small bowl, combine warm milk and yeast; let it sit for about 5 minutes until bubbly.

In a larger mixing bowl, whisk together the sugar, melted butter, egg, and salt.

Pour in the frothy yeast mixture and gradually add the flour, mixing until it forms a sticky dough.

Transfer the dough to a floured surface and knead for about 5–7 minutes, until it's smooth and elastic.

Place the dough in a greased bowl, cover it with a kitchen towel, and let it rise in a warm place for about 1 hour, or until doubled in size.

While the dough is rising, mix the brown sugar and cinnamon in a small bowl.

Once the dough has risen, roll it out into a rectangle about 1/4 inch thick, and then spread the softened butter over it.

Top it generously with the cinnamon-sugar mixture, then carefully roll the dough into a log.

Slice into equal pieces (about 12) and place them in a greased baking dish.

Cover your rolls with the towel again and let them rise for another 30 minutes.

Preheat your oven to 350°F while waiting.

Bake for 20-25 minutes, until they're golden brown.

In a mixing bowl, beat together softened cream cheese, powdered sugar, vanilla, and milk until smooth and creamy.

Once the rolls are out of the oven, let them cool for a few minutes before slathering with the glaze.

Serve warm and enjoy!