Warm the milk in the microwave or on the stovetop until it reaches between 100-110°F (38-43°C). Add the warmed milk to a large mixing bowl or the bowl of a stand mixer. Sprinkle the active dry yeast and 1 teaspoon of granulated sugar over the top. Whisk gently and then set the mixture aside until it's foamy, 5-10 minutes.

Once the yeast is foamy, add the rest of the granulated sugar, melted butter, egg, and vanilla extract. Whisk the mixture until it's smooth.

Add the flour and salt. Using a stand mixer with a dough hook or a wooden spoon, mix the flour into the wet ingredients until the dough is tacky (not sticky) and pulling away from the sides of the bowl. If the dough is sticky, add more flour, 1 teaspoon at a time, until it has a smooth, tacky texture.

Knead the dough with the dough hook for 5-7 minutes. If you're kneading the dough by hand, you'll need to knead it for closer to 7-10 minutes. To check if the dough is properly kneaded, give it a firm poke. If the dough springs back slowly, it's ready to go. If it springs back quickly, knead it for a few more minutes.

Oil a clean mixing bowl. Place the dough in the bowl and cover it with a clean linen or plastic wrap. Put the bowl in a warm spot (like the oven or top of the fridge) and let it rise until it's doubled in size, about 1 ½-2 hours.

Meanwhile, combine the very softened butter, brown sugar, cinnamon, and a pinch of Kosher salt in a small bowl until the mixture is smooth. Set aside.

Once the dough is doubled, tip it onto a floured surface. Using a rolling pin, evenly roll the dough into a 9x12-inch rectangle. (It doesn't have to be perfect.) Spread the filling over the dough, leaving a ¼-inch gap on all sides. With the long side facing you, tightly roll the dough into a log. If the log stretched out longer than 12-inches, press it gently on each side to re-shape it.

Using an 8-inch piece of unflavored dental floss or baking twine, cut out 6 rolls that are about 2 inches wide. Just shimmy the floss or twine under the log, bringing both sides around the log like you're about to tie a bow. Pull the two sides of the floss in opposite directions to slice through the rolls. Alternatively, use a very sharp knife to slice the rolls instead.

Grease a ⅛ sheet pan, small metal casserole dish, or an 8-inch or 9-inch cake pan with butter or neutral oil. Space the cinnamon rolls in the prepared pan about 1-inch apart. Cover the rolls with a clean linen or plastic wrap and place the pan in a warm spot. Let the rolls rise for another 45-60 minutes, until they're puffy.

Meanwhile, preheat the oven to 350°F. When the rolls are puffy, pour the heavy whipping cream over the tops of the rolls, making sure the cream gets into every nook and cranny. Bake the rolls for 20-25 minutes, or until the tops are golden-brown and the centers reach 190-200°F (88-93°C). Don't over-bake or it'll dry out the rolls.

Add the softened butter and cream cheese to a medium mixing bowl. Using a hand mixer or stand mixer, beat the cream cheese and sugar until it's creamy.

Add the powdered sugar and beat until you have a thick frosting. Mix in the vanilla extract and a pinch of salt. Then, turn the hand mixer or stand mixer to medium-high speed and whip the frosting until it's fluffy, 2-3 minutes.

While the cinnamon rolls are still warm (but not super hot!), spread the cream cheese frosting over the tops. Enjoy!