Combine warm milk, active dry yeast, and a pinch of granulated sugar. Let it sit for 5-10 minutes until frothy.

Add granulated sugar, egg, and melted butter to the yeast mixture. Mix until combined. Gradually incorporate flour and salt until shaggy dough forms.

Knead the dough on a floured surface for 5-7 minutes until smooth and elastic.

Place kneaded dough in a greased bowl, cover, and let rise for 1-1.5 hours until doubled.

Prepare filling by mixing softened butter, brown sugar, and cinnamon until smooth.

Roll out the dough into a rectangle and spread the filling over it. Roll tightly into a cylinder and slice into 9-12 equal rolls.

Place rolls in a greased pan, cover, and let rise for 30-45 minutes until puffy.

Preheat oven to 375°F. Bake rolls for 20-25 minutes until golden.

Pour warm cream over rolls immediately after baking and let absorb for 5 minutes.

Beat cream cheese and butter, add powdered sugar and vanilla, and mix until smooth. Adjust with milk or cream, frost the rolls.