Add milk, butter and sugar to a small sauce pan and bring to a simmer, allowing all the butter to melt, stirring occasionally. Remove from heat, transfer to a medium mixing bowl and let the mixture cool to approximately 110°F.
Sprinkle the yeast over the surface of the milk mixture, and let sit for 5 – 10 minutes until the yeast expands.
Combine flour and salt in a small mixing bowl, add this to the liquid mixture and knead with the dough hook on speed 2 until a dough forms. You could also mix with a wooden spoon.
The dough will be somewhat wet, scrape it out of the bowl onto a well-floured board. Flour the top of the dough and knead a few times with the heel of your hand. Shape into a ball.
Oil a glass bowl and place the dough ball in the bowl, cover with plastic or a kitchen towel and allow to rise until double in size, about 1 – 2 hours.
Flour your working surface, a large board or your counter top, turn the dough out with the smooth side on top, or flour the dough and knead a few times to smooth out the dough and shape it into a disk. Only use as much flour as you need to keep it from sticking, at this point it shouldn’t be that sticky.
Roll the dough out into a rectangle about 12” x 15” with the longer edge facing you, checking the bottom of the dough often to make sure it is not sticking to your working surface, flour as necessary.
Spread the 1 oz soften butter evenly on the surface of the dough rectangle with a small silicone spatula, leaving about 1/2” border along the edge closest to you.
Thoroughly mix brown sugar with cinnamon in a small bowl, spread the mixture on top of the buttered dough surface evenly with your hand.
Roll the dough from the top long edge down toward you, starting in the middle working toward the sides, roll and tuck, until you get to the end. You could pinch the edge to seal the roll, or just roll the log over so the seam is sitting at the bottom.
Cut the log into 8 equal size rolls.
Spray a baking dish with nonstick spray or line with parchment paper, place the rolls in the dish, far enough apart, approximately 3/4” – 1”, to allow them to rise before baking.
Cover the baking dish with a kitchen towel or plastic, and let the rolls rise at room temperature for about 30 minutes to 1 hour, until they are poofy.
Preheat oven to 375°F. You could set the baking dish on top of the oven and allow the rising heat from the oven help with the proofing of the rolls.
Bake for 25 minutes until golden brown.
Remove from the oven and set on a wire rack to cool slightly while you prepare the glaze.
Allow both the cream cheese and milk come to room temperature.
Cream the cream cheese in your stand mixer with a whisk, add the milk and beat to combine. Slowly add the sugar with the mixer on low speed, mix until thoroughly combined and a soft glaze forms.
For less sweet glaze, start with 1 tablespoon of milk and 1/2 cup of powder sugar. Increase the amount of sugar and milk if you desire sweeter glaze.
Use a serrated knife to separate the rolls, slather glaze over the warm rolls and serve.