Prepare Dough: Melt unsalted butter and warm milk until it reaches 100-110°F. Combine with active dry yeast and granulated sugar, let sit for 10 minutes until frothy.

Mix Ingredients: Add egg, salt, and vanilla to the yeast mixture. Gradually mix in flour until a slightly tacky dough forms.

Proof Dough: Cover the bowl and place in a warm oven for 10 minutes to allow the dough to rise slightly.

Make Filling: Combine softened butter, light brown sugar, cinnamon, and vanilla in a bowl until smooth.

Roll Out Dough: Roll the dough into a rectangle, spread filling evenly, and roll tightly.

Cut Rolls: Slice the rolled dough into 12-15 segments and place in a greased baking dish.

Bake: Preheat oven to 350°F and bake rolls for 20-25 minutes until golden brown.

Cool and Ice: Cool rolls for 10 minutes, then mix cream cheese icing ingredients and spread over warm rolls.