In a glass measuring cup, heat the milk to 110 degrees F and stir in the sugar and yeast. If using active dry yeast, allow to sit for 15 minutes for the yeast to activate. If using instant yeast, simply move on to the next step.

Mix the egg yolk and vanilla into the milk yeast mixture.

In the bowl of a stand mixer fitted with a dough hook, mix the flour and salt together.

Pour the wet ingredients into the flour and mix on low-medium speed for about 3 minutes, or until it forms a shaggy dough.

Add in a few pieces of butter at a time, allowing them to fully incorporate before adding more.

Once all of the butter is incorporated, turn the mixer up to medium-high speed and mix for 8-12 minutes, until a smooth and supple dough forms.

Once the dough is ready, transfer it to a lightly greased bowl, cover, and allow to proof in the fridge for two hours. Alternatively, you can let the dough rise in a warm place for about 45 minutes to 1 hour.

On a non-floured surface, roll the dough out to a long rectangle about 9"x3".

Sprinkle the brown sugar and cinnamon evenly all over. Then, cut the rectangle down the middle, leaving two strips measuring 9"x1.5".

Roll up one strip, then match the edge of the roll to the edge of the second strip and roll to create one cinnamon roll. Place in a mini cocotte or ramekin, then cover with plastic wrap and allow to rise at room temperature for about 20-30 minutes.

While the cinnamon roll is proofing, preheat the oven to 350 degrees F.

Place the mini cocotte on top of a small baking sheet, then place in the oven. Bake for about 18-20 minutes or until evenly golden on top.

While the cinnamon roll is baking, make the cream cheese icing.

In a medium bowl, whisk together the melted butter and cream cheese until smooth.

Whisk in the sifted powdered sugar until no lumps remain. Optionally, add ½-1 teaspoon of heavy cream until it reaches the desired consistency.

Once the cinnamon roll comes out of the oven, immediately pour the icing on top. Allow to cool for a few minutes, then enjoy!