Warm the milk to around 110 degrees F by microwaving it in a microwave-safe bowl for 40-45 seconds until it's like warm bath water. Transfer the warm milk to the bowl of an electric mixer and sprinkle yeast on top. Add in sugar, egg, egg yolk, and melted butter. Mix until well combined. Then stir in flour and salt with a wooden spoon until a dough begins to form.

Place the dough hook on the stand mixer and knead the dough on medium speed for 8 minutes. The dough should form into a nice ball and be slightly sticky. If it's too sticky, add in 2 tablespoons more bread flour. Alternatively, you can knead the dough by hand for 8-10 minutes on a well-floured surface.

Transfer the dough ball to a well-oiled bowl, cover it with plastic wrap and a warm towel, and let it rise for 1 to 1 ½ hours or until doubled in size, depending on the humidity and temperature in your home.

After the dough has doubled in size, transfer it to a well-floured surface and roll it out into a 14x9 inch rectangle. Spread the softened butter over the dough, leaving a ¼ inch margin at the far side of the dough.

In a small bowl, mix together brown sugar and cinnamon. Sprinkle the mixture over the buttered dough using your hands, then rub the brown sugar mixture into the butter.

Tightly roll the dough up, starting from the 9-inch side, and place the seam side down, making sure to seal the edges of the dough as best you can. Cut off about an inch from each end of the dough, as the ends won't be as full of cinnamon sugar as we want them to be.

Cut the dough into 1-inch sections using a serrated knife or floss. You should get 9 large pieces.

Place the cinnamon rolls in a greased 9x9 inch baking pan or round 9-inch cake pan. You can also line the pan with parchment paper to prevent the filling from leaking out. Cover the pan with plastic wrap and a warm towel and let the rolls rise again for 30-45 minutes.

Preheat the oven to 350 degrees F. Remove the plastic wrap and towel and bake the cinnamon rolls for 20-25 minutes or until just slightly golden brown on the edges. Underbake them a little so they stay soft in the middle. Let the rolls cool for 5-10 minutes before frosting. This recipe makes 9 cinnamon rolls.

To make the frosting, combine cream cheese, butter, powdered sugar, and vanilla extract in the bowl of an electric mixer. Beat until smooth and fluffy. Spread the frosting over the cinnamon rolls and serve immediately. Enjoy!