Classic Cinnamon Rolls

1. In a large bowl or the bowl of a stand mixer, combine warm milk, granulated sugar, and yeast. Stir and let it sit for 5 minutes until foamy.

2. Add the egg, melted butter, and all-purpose flour to the mixture.

3. Using the dough hook attachment, knead the dough on medium speed for 5-7 minutes until it is smooth and elastic.

4. Place the dough in a lightly oiled bowl, cover it with plastic wrap, and let it rise in a warm place for about 1-1.5 hours, or until doubled in size.

5. Once risen, punch down the dough and transfer it to a lightly floured surface.

6. Roll the dough out into a large rectangle, about 1/4 inch thick.

7. In a small bowl, mix together the softened butter, brown sugar, and cinnamon to make the filling.

8. Spread the cinnamon filling evenly over the surface of the dough, leaving a small border along one edge.

9. Starting from the long edge, tightly roll the dough up into a log.

10. Use a piece of thread or a sharp knife to cut the log into 6 equal-sized rolls.

11. Place the rolls cut-side up in a greased baking dish.

12. Cover the dish with a clean kitchen towel and let the rolls rise for another 30-45 minutes until they are puffy.

13. Preheat your oven to 375°F (190°C).

14. Bake the cinnamon rolls for 20-25 minutes, or until they are golden brown.

15. While the rolls are baking, prepare the glaze by whisking together the cream cheese, powdered sugar, and vanilla extract in a bowl until smooth.

16. Let the baked rolls cool for a few minutes before spreading the glaze generously over the top.

17. Serve the cinnamon rolls warm and enjoy.