In a small saucepan, heat the milk and butter over low heat until warm, but not boiling. Remove from heat, and sprinkle the yeast along with a tablespoon of sugar over the warm milk. Stir gently and let sit for about 5 minutes until frothy.

In a large bowl, combine the yeast mixture, remaining sugar, egg, salt, and vanilla extract. Gradually add the flour, one cup at a time, mixing until a soft dough forms.

Lightly flour a clean surface and knead the dough for about 5 minutes until smooth and elastic.

Let the dough rest for about 10 minutes and then roll it out into a rectangle, approximately 1/4 inch thick.

Spread softened butter across the surface of the dough. In a bowl, mix brown sugar, granulated sugar, and cinnamon together. Sprinkle evenly over the buttered dough.

Starting from one of the long edges, tightly roll the dough into a log. Cut it into 12 equal pieces.

Preheat your oven to 375°F (190°C). Grease a baking dish and place the rolls inside. Bake for 20-25 minutes, or until golden brown.

While the rolls bake, beat together softened cream cheese, powdered sugar, vanilla extract, and milk to your desired consistency.

Once the cinnamon rolls are done, let them cool for a few minutes before drizzling the cream cheese frosting over the top. Enjoy warm!