Homemade Cinnamon Rolls

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1. 1Step 1: In a stand mixer fitted with the whisk attachment, mix 2 cups of the flour with the granulated sugar, yeast, and salt on low speed until combined.
2. 2Step 2: In a microwave-safe bowl, microwave the milk and butter until the mixture is warm to the touch and the butter is mostly melted, about 45 seconds, making sure it's not steaming or too hot, as this can kill the yeast.
3. 3Step 3: Pour the milk mixture into the flour mixture. Add the egg. Beat on low speed until combined, then gradually increase to high and beat for 2 minutes. The dough will look like batter, but this is correct and kicks off gluten development.
4. 4Step 4: After 2 minutes, change to the dough hook attachment. Add an additional 1 ½ cups of flour and knead on low speed until combined. Scrape down the sides of the bowl with a silicone spatula. Add the remaining 1 cup of flour (totaling 4 ½ cups) and knead on low speed, stopping occasionally to re-disperse dough, until the dough starts to pull away from the bowl and forms a ball around the hook.
5. 5Step 5: Increase to medium-low speed and knead until the dough becomes smooth and supple, about 10 minutes. If the dough wraps around the hook too much, turn off the mixer, pull the dough off, flip it over, and turn on the mixer again. The dough is ready when you can stretch a quarter-sized piece between your fingers and see light through it without breaking. If it breaks, knead a few minutes more and try again.
6. 6Step 6: Transfer the dough to a large lightly-oiled bowl, cover with a dish towel or plastic wrap, and let rise in a warm place until doubled in size, about 1 hour.
7. 7Step 7: In a medium bowl, mix the softened butter, brown sugar, cinnamon, and salt with a silicone spatula until it forms a paste. Set aside.
8. 8Step 8: Turn the dough onto a well-floured surface. Roll it into a 12-inch long by 18-inch-wide rectangle, with the wider side closest to you. Spread the filling all the way to the edges with a silicone spatula.
9. 9Step 9: From the 18-inch wide side closest to you, roll the dough into a tight log. Press the outside seam to seal. Use a very sharp knife (or floss) to cut into 12 even rolls. Place in a 9 x 13-inch pan lined with parchment paper. Cover and let rise in a warm place until doubled, about 1 hour.
10. 10Step 10: Preheat the oven to 350°F. Remove the cover and bake until golden brown all over, about 30 minutes. Place the pan on a wire rack to cool slightly, about 15 minutes.
11. 11Step 11: In a stand mixer with the whisk attachment, combine the cream cheese, butter, powdered sugar, 2 tablespoons of milk, vanilla, and a pinch of salt. Beat on low until combined, then increase to medium-high and beat until light and fluffy, about 1 minute. If the frosting is too thick, add another tablespoon of milk and beat. Spread the icing evenly over the slightly warm rolls. Enjoy warm.