Step 1: Activate the Yeast. In a large bowl, combine the warm milk, active dry yeast, and 1 teaspoon of granulated sugar. Stir gently and let it sit for 5-10 minutes until foamy. This confirms your yeast is active.
Step 2: Combine Wet Ingredients. To the yeast mixture, add the 1/2 cup melted butter, 1/4 cup granulated sugar, eggs, and 1 tsp vanilla extract. Whisk until well combined.
Step 3: Gradually Add Dry Ingredients. In a separate bowl, whisk together the flour and salt. Gradually add the dry ingredients to the wet ingredients, mixing with a wooden spoon or stand mixer with a dough hook until a shaggy dough forms.
Step 4: Knead the Dough. Turn the dough out onto a lightly floured surface and knead for 8-10 minutes, or use a stand mixer on medium-low speed for 6-8 minutes, until the dough is smooth and elastic.
Step 5: First Rise. Lightly grease a large bowl. Place the dough in the bowl, turning once to coat. Cover with plastic wrap and let rise in a warm place for 1-1.5 hours, or until doubled in size.
Step 6: Prepare the Filling. While the dough is rising, prepare the filling by combining the 1/2 cup softened butter, brown sugar, and ground cinnamon in a small bowl. Mix until well combined.
Step 7: Roll Out the Dough. Once the dough has doubled, punch it down gently to release air. On a lightly floured surface, roll the dough into a large rectangle, approximately 18x12 inches (45x30 cm).
Step 8: Spread the Filling. Evenly spread the cinnamon-sugar filling over the entire surface of the dough, leaving a 1/2 inch border on one long edge.
Step 9: Roll and Slice. Starting from the long edge opposite the border, carefully roll the dough tightly into a log. Use a sharp knife or unflavored dental floss to slice the log into 12-15 equal rolls, about 1.5 inches thick.
Step 10: Second Rise. Arrange the sliced rolls in a greased 9x13 inch baking dish, leaving a little space between each. Cover again with plastic wrap and let rise in a warm place for another 30-45 minutes, or until puffy and almost doubled.
Step 11: Bake. Preheat your oven to 375°F (190°C). Bake the cinnamon rolls for 20-25 minutes, or until golden brown on top and cooked through. Do not overbake.
Step 12: Prepare the Frosting. While the rolls are baking, beat together the softened cream cheese, 1/4 cup softened butter, powdered sugar, 1/2 tsp vanilla extract, and a pinch of salt until smooth and creamy. Add milk/cream 1 tbsp at a time if needed to reach desired consistency.
Step 13: Frost and Serve. Once the cinnamon rolls are out of the oven, let them cool for 5-10 minutes before generously spreading the cream cheese frosting over them. Serve warm and enjoy!