In a bowl, combine the warm milk, sugar, and yeast. Let it sit for about 5 minutes until frothy.

In a large mixing bowl, whisk together the flour and salt.

Add the yeast mixture, melted butter, and egg to the flour and mix until a dough forms.

Knead the dough on a floured surface for about 5-10 minutes until smooth.

Let the dough rise in a warm place for about 1 hour, or until doubled in size.

Roll the dough into a rectangle and spread softened butter over the surface.

Sprinkle with brown sugar and cinnamon.

Roll the dough tightly, slice into individual rolls, and place them in a greased baking dish.

Let rise again for about 30 minutes.

Bake in a preheated oven at 350°F (175°C) for 20-25 minutes.

For the frosting, combine cream cheese, powdered sugar, and vanilla in a bowl and mix until smooth.

Drizzle the frosting over the warm cinnamon rolls before serving.