Prepare 9x13 baking pan with parchment

Warm milk to 110 F. Transfer to the bowl of mixer and sprinkle yeast on top. Add in sugar, egg, egg yolk and melted butter. Stir in flour and salt and mix with dough hook on medium speed for 8 mins. Should form a nice ball and be slightly sticky. If TOO sticky, add 2 tablespoons more flour. Transfer to an oiled bowl, cover with plastic. Allow dough to rise for 1 hour to 1 1/2 hours, or until doubled in size.

Meanwhile, in a small bowl, mix together brown sugar and cinnamon. Set aside.

Transfer dough to a well-floured surface and roll out into a 12 x14 inch rectangle. Spread softened butter over dough, leaving a 1/4 inch margin at the far side of the dough Use your hands to sprinkle sugar mixture over the buttered dough, then pat into the butter.

Tightly roll dough up, from the 12-inch side and place seam side down making sure to seal the edges of the dough. Cut into 12 1 pieces with knife or floss.

Place rolls in baking pan. (If preping for freezer, wrap in plastic and freeze.) Otherwide, cover with plastic wrap and let rise again for 30-45 minutes.

Preheat oven to 350 F. Bake for 20-25 minutes, or until lightly browned. If you notice the tops are getting too brown too quickly, loosely tent the pan with foil and continue baking. Internal temp should be around 195–200°F. Cool for 5-10 minutes before frosting.

Frosting: Combine cream cheese, butter, powdered sugar and vanilla extract. Beat until smooth and fluffy. Spread over cinnamon rolls and serve immediately.