Dough:
1. Pour your milk into a glass bowl and microwave it for about 20 seconds until it is lukewarm, Stir in yeast and a pinch of sugar and allow to sit for 10-15 minutes until the top of the mixture looks foamy.
2. Whisk together milk and yeast mixture with melted butter, sugar, egg yolk, and salt.
3. Add the flour and use a spoon to mix well, until a thick, sticky dough forms and all the flour is incorporated.
4. Drop the mixture onto a well-floured work surface and knead until the dough is no longer sticky and forms a ball (about 10 to 15 folds).
5. Place dough into a greased bowl, cover with a towel, and allow to rise in a warm place for an hour to 90 minutes
Filling:
6. Once your dough has risen, turn it out on a lightly floured surface and use a rolling pin to roll the dough out to about 5 by 15-ish inches.
7. Spread butter over the entire thing and top with cinnamon and brown sugar. Roll into a tight log from the short side. Use a serrated knife or dental floss to cut the roll into quarters.
8. Place the rolls in a small greased baking dish. Cover with a towel, place them in a warm spot, and allow to rise for 45 minutes to an hour, until puffed up and fluffy.
9. Preheat oven to 375° F. Bake cinnamon rolls for 15-22 minutes, until the tops are golden and centers cooked through.
Frosting:
10. While your rolls are baking, in a medium bowl, whisk together softened cream cheese, butter, sugar, vanilla, and salt, until well combined.
Spread frosting over rolls, serve, and enjoy!
