Grandma Betty's Homemade Cinnamon Rolls

Ingredients

• 1 cup (240 ml) milk, warmed to 110-115°F (43-46°C)
• 2 ¼ teaspoons (7 grams) active dry yeast (1 packet)
• ¼ cup (50 grams) granulated sugar
• ½ teaspoon (3 grams) salt
• ¼ cup (57 grams) unsalted butter, melted
• 1 large egg, lightly beaten
• 3 – 3 ½ cups (360-420 grams) all-purpose flour, plus more for dusting
• ½ cup (113 grams) unsalted butter, softened
• ¾ cup (150 grams) packed light brown sugar
• 2 tablespoons ground cinnamon
• 4 ounces (113 grams) cream cheese, softened
• ¼ cup (57 grams) unsalted butter, softened
• 1 ½ cups (180 grams) powdered sugar, sifted
• 1 teaspoon vanilla extract
• 2-3 tablespoons milk or cream, for desired consistency