Warm the milk: Heat 1 cup of milk until warm to the touch, about 105–115°F. It should feel like a warm bath, not hot.
Make the dough: In a large bowl, whisk 2 1/2 cups flour, 2 tablespoons sugar, 1 packet instant yeast, and 1/2 teaspoon salt. Add the warm milk, 1 beaten egg, 4 tablespoons softened butter, and 1 teaspoon vanilla.
Stir until a shaggy dough forms.
Knead: Knead by hand on a lightly floured surface or with a mixer and dough hook. Add more flour, a few tablespoons at a time, until the dough is soft and slightly tacky but not sticky. This usually takes 7–10 minutes of kneading and about 3 to 3 3/4 cups total flour.
First rest: Shape into a ball and place in a lightly greased bowl.
Cover and let rest at room temperature for 20–30 minutes to relax the gluten. It doesn’t need a full rise here.
Make the filling: Mix 1/2 cup brown sugar, 2 tablespoons granulated sugar, 1 1/2 tablespoons ground cinnamon, and a pinch of salt. Melt 4 tablespoons butter separately.
Roll the dough: On a floured surface, roll the dough into a 12x16-inch rectangle.
Brush with melted butter, leaving a 1/2-inch border on one long side. Sprinkle the cinnamon-sugar mixture evenly over the buttered dough.
Shape: Starting from the long, buttered edge, roll into a tight log. Pinch the seam to seal.
Use a sharp knife or dental floss to cut 9–12 rolls, about 1 to 1 1/2 inches thick.
Arrange in pan: Grease a 9x13-inch baking dish or two 9-inch round pans. Place the rolls cut-side up, spaced slightly apart.
Overnight rise: Cover tightly with plastic wrap or a lid and refrigerate overnight, 8–18 hours. The cold slows the rise but builds flavor and structure.
Bring to room temp: In the morning, take the pan out and let the rolls sit at room temperature until puffy, 45–75 minutes depending on your kitchen.
They should look lighter and expanded.
Bake: Preheat oven to 350°F (175°C). Bake for 22–28 minutes, until lightly golden on top and 190–195°F in the center. If browning too fast, tent with foil.
Make the glaze: Beat 4 ounces cream cheese (softened) with 2 tablespoons softened butter, 1 cup powdered sugar, 1 teaspoon vanilla, and a pinch of salt.
Add 1–2 tablespoons milk until smooth and spreadable.
Glaze and serve: Spread half the glaze on warm rolls so it melts into the spirals. Add more once they cool slightly for a pretty finish. Serve warm.