Preheat oven to 170°F. Heat the milk in a medium pot over low heat until it reaches 100°F. Remove the pot from heat and add the yeast and 1/2 teaspoon sugar. Do not stir. Let sit until foamy, about 5–10 minutes. (If the mixture doesn’t foam, you may need new yeast, or the milk could have killed the yeast if it was too hot. Start over or your rolls won’t rise.)
While the yeast is proofing, melt the butter and let it return to room temperature. Once cooled, whisk in the vanilla extract and egg yolk until smooth. Whisk this mixture into the yeast/milk mixture.
Using a stand mixer, mix together flour, the remaining 1/3 cup sugar, salt, and cinnamon. Once combined, make an indent in the center and pour the yeast mixture into it. Mix on low speed with the dough hook until thick and slightly sticky (~2 minutes), scraping the sides with a spatula as needed. Knead on medium speed until the dough gathers around the hook, (~5–6 minutes). If the dough isn’t gathering around the hook, you can slowly add more flour (1/4 up to 3/4 cup extra). Aim for a slightly sticky and tacky texture—just enough to gather around the hook without sticking to your fingers. Avoid over-flouring to keep the dough soft.
Remove the dough and shape it into a ball (it will be a little sticky!). Grease the mixing bowl with cooking spray or butter and return the dough to the bowl, turning to coat with the spray or butter. Cover with plastic wrap or a towel and let rise until doubled. This takes roughly 45 mins to 1.5 hours. Placing the dough in a warm environment will make it rise faster. (I turn off the oven that preheated to 170°F, add the bowl of dough into the oven, and crack the oven open 4–5 inches.)
Lightly flour a clean surface and roll out the dough. Try to get a rectangle shape that is approximately 15x12 inches (with the 15-inch side facing you). Avoid overworking the dough.
For the Filling
In a large bowl, combine the softened butter with brown sugar and cinnamon. Beat until you have a thick mixture.
Use a knife or spatula to spread the cinnamon-sugar mixture over the entire dough rectangle. Starting on the long side (closest to you), tightly roll up the dough jelly-roll style.
Cut the roll of dough into 12 equal slices and place in a greased 9x13-inch ceramic or glass pan. (Avoid metal pans if possible.)
Cover the rolls in the pan and allow them to rise until nearly doubled. Again, place in a warm environment to make them rise quicker, about 20–30 minutes.
Preheat oven to 375°F. Warm the heavy cream for 15–20 seconds in the microwave (you don’t want it hot, just not cold/straight from the fridge).
Using a pastry brush, spread the heavy cream over the risen rolls and allow it to soak down, in, and around the rolls.
Bake cinnamon rolls at 375°F for 17–26 minutes, until the rolls are lightly golden brown at the edges and the center of the rolls are cooked through.
For the Frosting/Glaze
While the rolls are cooling, prepare the frosting/glaze. Combine room-temperature cream cheese and butter in a large bowl and beat until smooth and creamy, about 2–3 minutes. Add in powdered sugar, vanilla, cinnamon, and salt. Beat until smooth.
Allow cinnamon rolls to cool at room temperature for 10–15 minutes, then spread the glaze evenly over the rolls. Enjoy warm!
Video
Notes
Storage: Store leftover cinnamon rolls in an airtight container at room temperature for up to 2 days. For longer storage, wrap them tightly in plastic wrap and freeze for up to 3 months. To reheat, warm in the microwave or oven until soft.