Please read through the entire recipe before beginning and note that if you would like to make these in advance and freeze them, those instructions are in the notes.
Warm the milk to 110 to 115 degrees Fahrenheit. Pour into the bowl of a stand mixer fitted with the dough hook attachment. Whisk in the active dry yeast and the sugar. Let stand for 5 minutes. When you come back, it should be foamy. If it isn't, you will want to start over to ensure that your yeast is active.
1 cup milk, 2 1/2 teaspoons active dry yeast, 1/2 cup granulated sugar
Whisk in the butter, egg, and salt.
1/4 cup unsalted butter, 1 egg, 1/2 teaspoon table salt
Add in the flour and turn the mixer on medium-low. Knead for 10 minutes. Knead by hand until you are able to form the dough into a smooth ball. Place in a bowl and cover with plastic wrap. Let the dough rest for 2 hours in a warm place.
4 cups all purpose flour
After the dough has had the chance to rise, make the filling by whisking together the brown sugar and cinnamon.
1 cup brown sugar, 1 tablespoon ground cinnamon
Roll the dough out on a lightly floured surface. Roll into a 16 by 12 inch rectangle. Spread the butter on the rolled-out dough. Then sprinkle the brown sugar and cinnamon mixture over it.
1/4 cup butter
Starting on the 12 inch side, roll up the dough tightly. Cut the rolls into 12 even pieces. It helps to first cut the large roll in half and then cut each half in half again. At this point, you will have 4 equal pieces. Cut each fourth into 3 pieces to make 12 rolls.
Grease a 9 by 13 inch baking dish. Place the rolls cut side down in the dish. Cover and place in a warm place for 8 hours or overnight.
Preheat your oven to 375 degrees Fahrenheit. Once preheated, bake the rolls for 15 to 20 minutes or until they are lightly golden.
While the rolls are baking, make the icing. Beat the cream cheese and butter together until smooth. Then beat in the milk and vanilla. Gradually beat in the powdered sugar. Finally, finish it off with a pinch of salt.
3 ounces cream cheese, 1 tablespoon unsalted butter, 2 tablespoons milk, 1 teaspoon vanilla extract, 1 cup powdered sugar, 1/8 teaspoon table salt
Remove the rolls from the oven and let them cool for 10 minutes. Then spread the icing over the top. Serve and enjoy.