Make the Dough
In the bowl of a stand mixer, combine warm milk, yeast, and granulated sugar. Let it sit for 5 minutes until slightly foamy.
Add in the melted butter, egg, egg yolk, and salt. Mix until combined.
Add flour gradually while mixing on low speed.
Switch to the dough hook and knead for about 8 minutes, or until you have a soft dough that’s slightly tacky but pulls away from the sides of the bowl.
Transfer the dough to a greased bowl, cover with plastic wrap, and let it rise in a warm spot until doubled in size — about 1 hour.
Prepare the Filling
In a small bowl, mix brown sugar and cinnamon. Set aside. Once the dough has risen, punch it down gently to release air bubbles, then roll it out on a floured surface into a rectangle about 12x18 inches.
Spread the softened butter evenly over the dough, then sprinkle on the cinnamon-sugar mixture, pressing it lightly to help it stick.
Shape the Rolls
Starting from the long edge, roll the dough tightly into a log.
Trim the uneven ends, then cut into 12 even rolls using a sharp knife or dental floss for clean slices.
Arrange them in a greased 9x13-inch baking pan, leaving a little space between each roll.
Cover with plastic wrap and let them rise again for 30–40 minutes until puffy.
Bake the Cinnamon Rolls
Preheat your oven to 350°F (177°C).
Bake for 25 minutes, or until the tops are lightly golden brown.
Don’t overbake — you want them soft and fluffy inside!
Make the Cream Cheese Icing
While the rolls bake, beat together cream cheese, butter, powdered sugar, vanilla extract, and a pinch of salt until smooth and creamy.
Spread the icing over the warm rolls right after they come out of the oven so it melts into all the layers.