Activate the yeast by combining warm milk and sugar in a small bowl. Sprinkle the yeast over the top and let it sit for 5-10 minutes until frothy.

In a large mixing bowl, combine melted butter, salt, and egg. Add the yeast mixture and stir until well combined.

Gradually add flour, one cup at a time, mixing until a soft dough forms. Knead on a floured surface for 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a cloth, and let it rise in a warm place for about 1 hour or until doubled in size.

Prepare the filling by mixing softened butter, brown sugar, cinnamon, and salt in a medium bowl until well combined.

Once the dough has risen, punch it down and roll it out into a rectangle about 1/4 inch thick.

Spread the cinnamon filling evenly over the rolled-out dough, leaving a small border around the edges.

Starting from one long side, tightly roll the dough into a log and pinch the seam to seal.

Slice the log into 12 equal pieces and place them in a greased baking dish, allowing space for expansion.

Cover the rolls with a cloth and let them rise for another 30-45 minutes until puffy. Preheat the oven to 350°F (175°C).

Bake the rolls for 25-30 minutes until golden brown. Let them cool slightly before frosting.

For the frosting, mix cream cheese, butter, powdered sugar, vanilla extract, and milk until smooth. Adjust milk for desired consistency.

Frost the warm cinnamon rolls and serve.