Warm the milk to about 105–110°F (warm to the touch, not hot). Stir in the granulated sugar and sprinkle the active dry yeast over the surface. Let sit 5–7 minutes until foamy and fragrant.

Combine dry ingredients

In a large mixing bowl, whisk together the all-purpose flour and salt.

Make dough

Add the foamy yeast mixture, melted butter, and beaten egg to the flour. Stir with a wooden spoon until a shaggy dough forms, then turn out onto a lightly floured surface. Knead for 6–8 minutes until smooth and elastic (or use a stand mixer with dough hook for 4–5 minutes). The dough should be slightly tacky but not sticky; add up to 1 tablespoon flour if very sticky.

First rise

Lightly oil a clean bowl, place the dough inside, turning to coat. Cover with plastic wrap or a damp kitchen towel and let rise in a warm draft-free spot for 60–75 minutes, until doubled in size.

Filling

Prepare filling

While the dough rises, mix the brown sugar and ground cinnamon in a small bowl. Stir in the softened butter until mixture resembles moist crumbs. If using nuts, fold them into the mixture.

Roll and fill

When the dough has doubled, punch it down and turn onto a lightly floured surface. Roll the dough into a roughly 12x10 inch rectangle about 1/4-inch thick. Spread the filling evenly across the dough, leaving a 1/2-inch border along the long edge. Starting from the long edge, tightly roll the dough into a log. Pinch seam to seal.

Portion

Using a sharp knife or unflavored dental floss, cut the log into 8 equal rolls (about 1 1/2 inches each). Place the rolls cut-side up in a lightly greased 9x13-inch baking pan or arrange slightly spaced on a lined baking sheet.

Second rise

Cover the assembled rolls with plastic wrap or a towel and let rise in a warm place for 30–40 minutes until puffy (they may not double but should look airy). Meanwhile preheat the oven to 350°F (175°C).

Bake & Glaze

Bake

Bake the rolls in the preheated 350°F (175°C) oven for 18–22 minutes until golden brown on top and cooked through. If the tops brown too quickly, tent loosely with foil for the last 5–10 minutes.

Prepare glaze

While the rolls bake, beat the softened cream cheese with powdered sugar and vanilla until smooth. Add milk, 1/2 teaspoon at a time, until glaze reaches a pourable but thick consistency.

Finish

Remove the rolls from the oven and let cool 5–7 minutes. Drizzle or spread the cream cheese glaze over the warm rolls so it melts into the swirls. Serve warm.