For the Crust:
1) Combine milk and butter in glass measuring cup. Microwave on high until butter melts and mixture is slightly warmed, around 30-45 seconds.
2) Pour warm milk and butter into bowl of electric mixer. Sprinkle yeast on top. Add in sugar, salt, and egg, mix until well combined. Next add in 1 cup of flour. Beat on low speed for 3 minutes, occasionally scraping the sides of bowl.
3) Slowly add in the additional cups of flour. Beat on low until flour is absorbed and dough becomes sticky. (If dough is very sticky, add more flour by 1 tablespoon at a time, until dough begins to pull away from sides of the bowl and forms a ball).
4) Using a wooden spoon, turn dough out onto floured work surface (kitchen counter or large cutting board). Knead dough by hand for about 8-10 minutes until smooth and elastic like, adding more flour if sticky. Form into 1 large dough ball. (Or if you don't want to knead by hand, use dough hook on electric mixer at medium speed for 8 minutes).
5) Lightly oil the inside of a large bowl. Transfer dough to bowl, turning to coat entire outside of ball. Cover bowl tightly with plastic wrap, then kitchen towl on top.
6) Allow dough to rise in warm room temperature area until doubled in size, about 2 hours.
For the Filling:
1) In a medium bowl, combine brown sugar and cinnamon, set aside.
2) Punch down dough while still in the large bowl. Transfer from bowl to lightly floured work surface. Roll out to approximately 14x12 inch rectangle.
3) With rubber spatula, spread the room temperature butter over the rolled out dough, leaving 1/2-inch border on edges. Sprinkle cinnamon sugar mixture evenly over butter.
4) Starting at longer side of rectangle, roll dough into a log, pinching the edges gently to keep it rolled up as you go.
5) With seam side down, cut dough vertically with a serrated knife into 16 equal slices (each about 3/4-1 inch wide). Start from center and keep halving each section to make slices even.
6) Spray two 9x9 inch square glass baking dishes with non-stick spray. Divide rolls between dishes, arranging with the cut side facing up. There should be almost no space between the rolls.
7) Cover baking dishes tightly with plastic wrap, then kitchen towel. Let dough rise in warm temperature area until almost doubled in size, about 45 minutes.
8) Position rack in center of oven, and preheat to 375°F.
9) Bake rolls until tops are golden, about 30 minutes.
10) Remove from oven. Let rolls cool in baking dish for 10 minutes, before frosting with glaze.
For the Glaze:
1) In a large bowl, combine cream cheese, powdered sugar, butter, and vanilla. Using an electric mixer, beat until smooth.
2) Spread glaze on warm rolls with rubber spatula or small spoon. (If rolls have cooled completely, you can warm the glaze in the microwave for 30-45 seconds first).
3) Serve glazed cinnamon rolls warm or at room temperature.