Step 1: In a large bowl, dissolve yeast in warm milk and let sit for 5 minutes until foamy.
Step 2: Add sugar, melted butter, egg, salt, and 2 cups of flour. Mix until combined.
Step 3: Gradually add remaining flour until dough forms a soft ball. Knead for 5 minutes.
Step 4: Place dough in a greased bowl, cover, and let rise in a warm place for 1 hour.
Step 5: Roll dough into a 12×16-inch rectangle. Spread softened butter evenly over the surface.
Step 6: Combine brown sugar and cinnamon, then sprinkle evenly over the buttered dough.
Step 7: Starting from the long side, tightly roll the dough into a log. Cut into 12 equal slices.
Step 8: Place rolls in a greased 9×13-inch baking dish. Cover and let rise for 30 minutes.
Step 9: Preheat oven to 350°F. Bake rolls for 25-30 minutes until golden brown.
Step 10: While rolls bake, beat cream cheese and butter until smooth. Add powdered sugar, vanilla, and milk.
Step 11: Spread cream cheese glaze over warm rolls. Serve immediately.