Warm 1 cup of milk slightly until lukewarm; combine with 2 teaspoons yeast and a sprinkle of sugar. Let sit for 5-10 mins until bubbly.

Add 1/4 cup melted butter, 1 large egg, 1/4 cup sugar, and 1 teaspoon salt. Gradually fold in 3-4 cups flour until a soft dough forms. Knead on a floured surface for 5-7 minutes.

Place dough in a greased bowl, cover, and let rise in a warm place for 1-2 hours until doubled in size.

Roll the dough into a rectangle 1/4 inch thick. Brush with 1/4 cup melted butter, sprinkle with 1/2 cup brown sugar and 2 tablespoons cinnamon.

Roll the dough into a tight log, seal edges, and slice into 12 rolls. Place in greased baking dish, allowing room to expand.

Cover baking dish with a towel; let rolls rise again for 30-45 minutes until puffy.

Preheat oven to 350°F. Bake rolls for 20-25 minutes until golden brown.

Prepare icing by beating 4 oz. cream cheese, 1/4 cup butter, 1 cup powdered sugar, and 1 teaspoon vanilla until smooth.

Spread icing over warm rolls; serve immediately.