Warm the milk until just hot to the touch, about 110°F.
Whisk in the sugar and yeast. Rest 5 minutes until foamy.
Stir in the melted butter and salt until combined.
Add most of the flour and mix until a shaggy dough forms.
Knead on a lightly floured surface 5–7 minutes, adding flour as needed, until smooth.
Grease a bowl with oil. Place dough inside, cover, and let rise until doubled, 45–60 minutes.
Stir brown sugar and cinnamon together for the filling. Grease a 9x13-inch pan.
Roll the dough into a 12x16-inch rectangle on a floured surface.
Spread softened butter over the dough. Sprinkle evenly with cinnamon sugar and press lightly.
Roll up from the long side into a tight log. Pinch the seam to seal.
Cut the log into 12 slices and arrange in the pan, slightly spaced.
Cover and let the rolls puff 20–30 minutes. Preheat oven to 350°F.
Bake 22–25 minutes, until lightly golden and set in the center.
Beat cream cheese and powdered sugar. Mix in vanilla and milk until smooth and spreadable.
Spread icing over warm rolls. Serve while cozy and soft.
Notes
For extra gooey rolls, drizzle about 1/3 cup warm heavy cream over the spirals just before baking. To make ahead, cover the shaped pan and refrigerate overnight; proof at room temperature until puffy, then bake. Leftovers keep covered at room temperature for 1 day or refrigerated up to 4 days; rewarm briefly to soften.This recipe is an original creation inspired by classic Homemade Cinnamon Rolls Made Easy flavors. All ingredient ratios and instructions are independently developed.