Step 1

Pour your milk into a mug and microwave it for about 20 seconds until it is lukewarm, NOT HOT (about 105-115 degrees F). Stir in yeast and a pinch of sugar and allow to sit for 10-15 minutes until the top of the mixture looks foamy.*

Step 2

In a medium bowl, whisk together milk and yeast mixture with melted butter, sugar, egg yolk, and salt.

Step 3

Add the flour and use a spoon to mix well, until a thick, sticky dough forms and all the flour is incorporated. Drop the mixture onto a well-floured work surface and knead until the dough is no longer sticky and forms a ball (about 10 to 15 folds).

Step 4

Place dough into a greased bowl, cover with a towel, and allow to rise in a warm place for an hour to 90 minutes, until doubled in size.

Step 5

Stir together brown sugar and cinnamon.

Step 6

Once your dough has risen, turn it out on a lightly floured surface and squish and stretch it GENTLY (we don't want to rip it) into an oblong shape and then use a rolling pin to roll the dough out to about 5 by 15 inches. Gently manipulate the corners and sides so you have a nice rectangle.

Step 7

Spread butter over the entire thing and top with the brown sugar mixture. Roll into a tight log from the short side. Use a serrated knife or dental floss to cut the roll into quarters.

Step 8

Place the rolls in a 6 to 7-inch greased baking dish. Cover with a towel, place them in a warm spot, and allow to rise for 45 minutes to an hour, until puffed up and fluffy.

Step 9

Preheat oven to 375° F. Bake cinnamon rolls for 15-22 minutes, until the tops are golden and centers cooked through. Allow rolls to cool for 5 minutes before frosting.

Step 10

After shaping the rolls, transfer them to a greased baking dish, cover tightly with plastic wrap, and place in the refrigerator overnight, up to 24 hours.

Step 11

In the morning, take rolls out of the fridge and set them in a warm spot (leave plastic wrap on). Allow them to rise for 1 to 2 hours, until puffed up and fluffy.

Step 12

Preheat oven to 375° F. Remove plastic wrap and bake cinnamon rolls for 15-22 minutes, until the tops are golden and centers cooked through.

Step 13

While your rolls are baking, in a medium bowl, whisk together softened cream cheese, butter, sugar, vanilla, and salt, until well combined.

Step 14

Spread frosting over rolls, serve, and enjoy!