🍥 Soft & Gooey Cinnamon Rolls with Cream Cheese Frosting

Ingredients
For the Dough
1 cup (240 ml) warm whole milk
2¼ teaspoons (7 g) instant yeast
¼ cup (50 g) granulated sugar
1 large egg
4 tablespoons (57 g) unsalted butter, melted
½ teaspoon salt
3½ cups (440 g) all-purpose flour
For the Cinnamon Filling
½ cup (113 g) unsalted butter, softened
¾ cup (150 g) brown sugar
2 tablespoons ground cinnamon
1 teaspoon vanilla extract
For the Cream Cheese Frosting
4 oz (113 g) cream cheese, softened
¼ cup (57 g) unsalted butter, softened
1 cup (120 g) powdered sugar
1 teaspoon vanilla extract
1–2 tablespoons milk
Instructions
In a large bowl, combine the warm milk, yeast, and sugar. Let it sit for 5–10 minutes until slightly foamy.
Add the egg, melted butter, and salt. Mix until well combined.
Gradually add the flour and mix until a soft dough forms. Knead for about 8 minutes, until smooth and elastic.
Place the dough in a lightly greased bowl. Cover and let it rise in a warm place for 1–2 hours, or until doubled in size.
For the filling, mix the softened butter, brown sugar, cinnamon, and vanilla until combined.
Roll the dough into a rectangle, about 15 × 11 inches. Spread the cinnamon filling evenly over the dough.
Roll the dough tightly from the long side into a log. Cut into 12 equal rolls.
Arrange the rolls in a greased 9 × 13-inch baking pan. Cover and let them rise for another 30–45 minutes.
Preheat the oven to 350°F (175°C). Bake for 20–25 minutes, or until lightly golden and cooked through.
For the frosting, beat the softened cream cheese and butter until smooth. Add the powdered sugar and vanilla, then mix until creamy. Add milk little by little until you reach your desired consistency.
Let the cinnamon rolls cool for 5–10 minutes, then spread the cream cheese frosting generously over the warm rolls.