Make the Dough.
Whisk flour, sugar, and salt together and set aside.
Combine the milk and butter together in an glass bowl. Heat in microwave until butter melts and mixture is warm to touch.
Whisk in yeast until fully dissolved.
Pour mixture into dry ingredients, add in egg and stir with wooden spoon or use a paddle in a stand mixer until a soft dough forms.
Transfer dough to lightly floured surface and knead dough for 3-5 minutes until it is a smooth ball. Add flour if dough is too sticky to handle. Put in a lightly greased bowl and cover for 10 -15 minutes to allow dough to rest and rise. .
Roll out dough into 14 x 8 inch rectangle. Spread with softened butter and sprinkle with brown sugar and cinnamon. Roll out the dough so it makes a 14 inch log. Slice into 12 cinnamon rolls and place in a greased 9x9 pan or a greased 9 or 10 inch cast iron skillet.
Cover and let set for 60-90 minutes in a draft free place.
Preheat oven to 375 degrees and bake rolls for 24-27 minutes until golden brown. If they are getting too brown, lightly cover with aluminum foil.
Remove from oven and cool on wire rack.
Icing - Whip the cream cheese and butter until smooth. Add in powdered sugar and vanilla or lemon .
When the rolls are warm, frost with a butter knife.
ENJOY!