How to Make the Best Cinnamon Rolls

Ingredients

• 1 cup (240ml) whole milk, warmed to 105-115°F (40-46°C)
• 2 ¼ teaspoons (7g or 1 packet) active dry yeast
• ¼ cup (50g) granulated sugar
• ½ teaspoon salt
• ¼ cup (57g) unsalted butter, melted and cooled slightly
• 2 large eggs, at room temperature
• 3 ¼ - 3 ½ cups (406-438g) all-purpose flour, plus more for dusting
• ½ cup (1 stick or 113g) unsalted butter, softened
• ¾ cup (150g) packed light brown sugar
• 2 tablespoons ground cinnamon
• 4 ounces (113g) cream cheese, softened
• ¼ cup (57g) unsalted butter, softened
• 1 ½ cups (180g) powdered sugar, sifted
• 1 teaspoon vanilla extract
• 1-2 tablespoons milk, to thin (optional)