Start by gathering all your ingredients. In a mixing bowl, combine the warmed milk with the sugar and melted butter. Then, sprinkle the instant yeast on top, allowing it to dissolve for about five minutes. This step is crucial as it activates the yeast.

In a separate bowl, whisk together the flour and salt. After the yeast mixture is frothy, add the egg and incorporate it well. Now, gradually add the dry mix to the wet ingredients. Stir until a dough begins to form.

Once combined, knead the dough on a lightly floured surface. Knead for about 5-7 minutes until it becomes smooth and elastic. You can also use a stand mixer with a dough hook to make this easier.

Place the kneaded dough into a greased bowl, covering it with a clean towel or plastic wrap. Allow it to rise in a warm place until it doubles in size, usually about 1 to 1.5 hours.

While waiting for the dough, prepare the filling. In a small bowl, mix together the brown sugar, ground cinnamon, and optional spices. Set it aside.

Once the dough has risen, punch it down gently. Roll it out on a floured surface into a large rectangle, about 1/4 inch thick. Spread the very soft butter over the surface of the dough, followed by the cinnamon-sugar mixture.

Starting from the long edge, roll the dough tightly into a log. Pinch the seam to seal it. Cut the log into 12 equal pieces and arrange them in a greased baking dish.

Cover the rolls with a towel again and let them rise for another 30-45 minutes. During this time, preheat your oven to 350°F (175°C).

Bake the rolls in the preheated oven for 25-30 minutes until they’re golden brown. Your kitchen will start smelling amazing!

While the rolls bake, mix together the softened cream cheese, butter, powdered sugar, and vanilla extract. Add milk as necessary for desired consistency.

Once the rolls are baked, let them cool in the pan for about 10 minutes. Drizzle the cream cheese icing over the warm cinnamon rolls and serve immediately. Enjoy!