Activate the Yeast: Heat milk to 100–110°F (38–43°C). In a mixing bowl, combine warm milk and yeast. Let sit 5–10 minutes until foamy.
Mix Wet Ingredients: Add melted butter, sugar, egg, and vanilla to the yeast mixture. Whisk to combine.
Add Dry Ingredients: Gradually mix in flour and salt until a dough forms.
Knead: Knead for 8–10 minutes (by hand or mixer) until dough is smooth and elastic.
First Rise: Place dough in a greased bowl, cover, and let rise 60–90 minutes until doubled.
Prepare Filling: Mix brown sugar and cinnamon in a small bowl.
Shape the Roll: Roll dough into a 10×16-inch rectangle. Spread softened butter evenly with your hands. Sprinkle cinnamon-sugar mixture over butter and press in gently.
Cut & Roll: Slice into 6 long strips. Roll the first strip tightly, then continue adding strips around it to form one giant roll.
Pan Prep: Grease a 9-inch springform pan. For extra gooeyness, sprinkle 2 tbsp brown sugar on the bottom. Place roll inside.
Second Rise: Cover and let rise 30 minutes.
Optional Heavy Cream: Just before baking, pour ¼ cup heavy cream over the roll.
Bake: Bake at 350°F (175°C) for 25–30 minutes until golden and cooked through.
Make Icing: Beat cream cheese and butter until smooth. Mix in vanilla, then powdered sugar.
Finish & Serve: Spread icing over warm roll. Slice and enjoy.