Heat whole milk in a saucepan until it reaches 110°F, then combine with yeast and 1 tbsp sugar. Allow to sit until frothy.

Add remaining sugar, melted butter, egg, and egg yolk to the yeast mixture. Stir until smooth, then gradually add flour and salt to form a dough. Knead for 7-8 minutes.

Shape the dough into a ball, place in a greased bowl, cover with a cloth, and let rise until doubled, about 60-90 minutes.

Mix melted butter, brown sugar, and cinnamon in a bowl to create filling.

Roll out the dough into a rectangle, spread the filling, roll tightly, and slice into 12 equal pieces.

Place rolls in a greased pan, cover with a cloth, and let rise for 30-45 minutes until puffy.

Preheat oven to 375°F. Bake rolls for 20-25 minutes until golden brown.

Beat cream cheese and butter until smooth. Add powdered sugar and vanilla to make frosting.