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A warm cinnamon roll with icing dripping down the swirl. This high calorie breakfast is technically pastry, but on the right morning, that's exactly what breakfast should be.
Warm the milk in a saucepan over low heat until just steaming (about 100°F), then whisk in the yeast and 1 tablespoon of the granulated sugar; let stand for 5–10 minutes until frothy.
Add melted butter, remaining sugar, eggs, and salt to the yeast mixture, then gradually mix in flour using a stand mixer with a dough hook on medium speed; knead 6–8 minutes until soft and elastic.
Lightly oil a large bowl, transfer dough, cover with plastic wrap, and allow to rise in a warm spot until doubled in size, about 1–1.5 hours.
Punch down dough and on a floured surface, roll out to a 14x9-inch rectangle; brush with softened butter, sprinkle evenly with cinnamon and brown sugar mixture, leaving a ½-inch border.
Tightly roll dough up from long edge, pinch seam closed, then slice into 8 rolls; arrange in a greased 9x13-inch baking pan. Cover and let rise for 30–40 minutes until puffy.
Preheat oven to 350°F. Bake the rolls 25–28 minutes until golden brown and set, watching closely at the end to prevent overbrowning.
While baking, prepare icing: Beat cream cheese, powdered sugar, vanilla, and a tablespoon of milk (if needed) in a bowl until smooth and spreadable.
Transfer rolls to a wire rack and cool slightly (5–10 minutes), then spread icing generously while still warm to allow it to melt into swirls.
