Preheat oven to 200 degrees.
Warm milk to 110-115 degrees. Add yeast & allow to activate for 5 minutes.
Into a stand mixer add sugar, salt, egg, vanilla, melted butter & milk/yeast combination. Whisk all ingredients together lightly.
Connect the dough hook to the mixer & slowly begin incorporating flour 1/2 cup at a time (medium speed) until sticky dough is seen.
Lightly grease an oven safe bowl & add dough. Cover with a kitchen towel.
Turn off the oven & place the bowl inside. Allow dough to rise for 30 minutes.
Add softened butter, packed brown sugar and cinnamon into a small bowl and mix.
When dough is ready, remove from oven. Place on a lightly floured surface and roll out to 1/4in thickness.
Spread your softened butter on the dough. Next sprinkle your cinnamon/sugar mixture over top.
Tightly roll your dough lengthwise. Using a sharp knife, cut dough into 1 inch round rolls.
Place rolls onto lightly greased baking sheet. Cover with kitchen towel & allow to rise for 20 minutes.
Preheat oven to 375 degrees.
When rolls are ready, place them uncovered into the oven and bake for 15 minutes.
While your rolls are baking add powdered sugar, cream cheese, melted butter & vanilla into a bowl. Stir together until frosting is smooth.
Remove rolls from oven & allow to cool for 5 minutes. Apply icing on top, serve & enjoy!