Yields 9 rolls

This recipe can be easily doubled.

Dough
1/2 cup milk
1 1/2 tablespoons salted butter
2 cups (or more) unbleached all purpose flour, divided
1/4 cup sugar
1 large egg
1 1/4 teaspoons active dry yeast

Microwave the butter and milk on high for 30 to 45 seconds, or until the butter melts and mixture is warm to the touch. In a stand mixer with paddle attachment, pour the milk mixture into the bowl and add flour, sugar, egg, and yeast. On low speed, beat on low for 3 minutes, stopping occasionally to scrape down sides of bowl. If the dough is too sticky, add more flour by the tablespoonful until it begins to form a ball and pulls away from sides of bowl. On a lightly floured surface, knead the dough until smooth and elastic, about 8 minutes. Form into a ball.

Transfer the dough to a lightly oiled bowl. Cover with plastic wrap and a kitchen towel. Allow the dough to rise in a warm environment until doubled in volume, about 2 hours.

Filling
1/3 cup + 1 tablespoon brown sugar
1 tablespoons ground cinnamon
Pinch of salt
2 tablespoons unsalted butter, room temperature

In a small bowl, mix together the brown sugar, cinnamon, and salt.

Punch down the dough. On a lightly floured surface, roll out the dough to 11 by 8 inch rectangle. Spread the dough evenly with the butter. Sprinkle on the brown sugar mixture. From the long end, roll the dough very tightly until you reach the center. Then, roll the other side into the center until both ends meet. Cut off the ends of the dough and divide the rest into 1 inch segments. Take each dough piece and pull down the center until it begins to resemble a heart.

Place the heart-shaped segments into an 8 inch square pan. Cover the pan with plastic wrap and a kitchen towel. Allow the dough to rise until it doubles in size, about 45 minutes to an hour. You can also make the cinnamon rolls the night before and allow them to double in size in the refrigerator overnight.

Preheat the oven to 375 degrees F. Bake for 15-20 minutes, or until the tops are golden. Immediately invert the pan onto a cooling rack. Cool for 10 minutes before turning the rolls right side up. This will keep all the brown sugar goodness in the bottom of the pan from leaking out of your rolls!

Glaze
2 ounces cream cheese, room temperature
1/2 cup powdered sugar
2 tablespoons unsalted butter, room temperature
1/2 teaspoon vanilla extract

In a medium bowl, beat together the cream cheese, powdered sugar, butter, and vanilla extract until smooth. Spread the glaze on the rolls. Serve warm or at room temperature