Chai Cinnamon Rolls with Cream Cheese Icing

Ingredients

• 1 cup (240 ml) whole milk, warmed to 105-110°F
• 2 1/4 teaspoons active dry yeast
• 1/4 cup (50 g) granulated sugar, divided
• 4 cups (500 g) all-purpose flour, plus more as needed
• 1 teaspoon fine salt
• 1 large egg, room temperature
• 6 tablespoons (85 g) unsalted butter, softened
• 1 teaspoon vanilla extract
• 6 tablespoons (85 g) unsalted butter, very soft
• 3/4 cup (165 g) packed light brown sugar
• 1 tablespoon ground cinnamon
• 1 1/2 teaspoons ground cardamom
• 1 teaspoon ground ginger
• 1/4 teaspoon ground cloves
• 1/4 teaspoon ground nutmeg
• 1/8 teaspoon finely ground black pepper
• 4 oz (115 g) cream cheese, softened
• 3 tablespoons (42 g) unsalted butter, softened
• 1 cup (120 g) powdered sugar
• 1/2 teaspoon ground cinnamon
• 1/4 teaspoon ground cardamom
• 1-2 tablespoons (15-30 ml) milk, as needed