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1. Prepare the Dough
In a large bowl, whisk warm milk and sugar. Sprinkle yeast over the top and let sit for 5–10 min until frothy.
Mix in eggs and melted butter.
Add flour and salt. Stir until dough forms, then knead (by hand or mixer) for about 8–10 minutes, until smooth and elastic.
Place in a greased bowl, cover, and let rise in a warm spot for 1 hour or until doubled in size.
2. Make the Filling
Mix brown sugar and cinnamon in a small bowl.
Set out softened butter.
3. Shape the Rolls
Roll dough out to a rectangle (~16x12 inches).
Spread butter evenly over dough.
Sprinkle cinnamon-sugar mix on top.
Roll up tightly from the long side and cut into 12 rolls.
4. Second Rise
Place rolls in a greased 9x13 pan.
Cover and let rise 30–45 min until puffy.
5. Bake
Preheat oven to 350°F (175°C).
Brush tops with egg wash for that golden color.
Bake 20–25 min or until golden brown and centers are set.
6. Make the Frosting
Beat together cream cheese and butter until smooth.
Mix in powdered sugar, vanilla, salt, and milk to desired consistency.
7. Glaze and Serve
Spread frosting over warm rolls and serve fresh!
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