Make the dough
In a large bowl, stir together warm milk and yeast. Let sit for 5–10 minutes until foamy.
Mix in sugar, melted butter, eggs, and salt. Gradually add flour until a soft dough forms.
Knead for 5–7 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise for 1–2 hours until doubled in size.
Prepare the filling
Combine brown sugar and cinnamon in a small bowl.
Roll out the dough into a 16×12-inch rectangle. Spread softened butter evenly across the surface, then sprinkle with the cinnamon-sugar mixture.
Shape the rolls
Roll the dough tightly from the long edge into a log. Slice into 12 equal pieces.
Arrange rolls in a greased baking pan. Cover and let rise for 30–45 minutes until puffy.
Bake
Preheat oven to 350°F (175°C).
Bake rolls for 22–25 minutes until golden brown and cooked through.
Make the icing
Beat cream cheese and butter until smooth. Add powdered sugar and vanilla, mixing until creamy.
Add milk gradually until the icing is spreadable.
Finish & serve
Spread icing over warm rolls so it melts into the swirls. Serve warm and enjoy every gooey bite.
🍽️ Tips & Variations
Make ahead: Prepare the rolls the night before and refrigerate. Let rise at room temp before baking.
Add-ins: Sprinkle chopped pecans or raisins into the filling for extra texture.
Flavor twist: Add a pinch of cardamom or orange zest to the icing for a festive touch.
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