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Soft, pillowy cinnamon rolls swirled with brown sugar and topped with cream cheese icing make the ultimate family breakfast treat. These bakery-style rolls fill your kitchen with irresistible aroma and are perfect for weekend mornings.
Warm the whole milk to about 110°F (not hot), then whisk in yeast and granulated sugar. Let sit for 5–10 minutes until foamy.
Mix in melted unsalted butter, egg, and salt. Gradually add all-purpose flour, stirring to form a soft dough. Knead on a lightly floured surface for 5–8 minutes until the dough is elastic.
Place the dough in a greased bowl, cover, and let rise in a warm place for 1–1.5 hours, or until doubled in size.
Punch down the dough and roll it out into a 14x8 inch rectangle. Spread softened butter over the surface, then sprinkle evenly with brown sugar and ground cinnamon mixture.
Roll up the dough tightly from the long side and cut into 8 equal rolls. Arrange in a greased 9-inch baking dish, cover, and let rise for 35–45 minutes until puffy.
Bake in a preheated 350°F oven for 22–25 minutes, until golden on top but still soft inside. Cool for 10 minutes.
For the icing, beat softened cream cheese with powdered sugar and vanilla extract until smooth. Spread over warm rolls before serving.
