Start making the dough by adding yeast, warm milk, and a pinch of sugar to a small bowl. Let it sit for 5 minutes until foamy.
In a medium bowl or mixer bowl, whisk together the flour, sugar, and salt. Add the yeast mixture and 3 tablespoons of melted butter. Knead with a dough hook attached for 5 minutes or with your hands. Add a little more flour if needed. The dough should be soft and not overly sticky.
Form a ball and transfer it to a greased medium bowl to rise. Cover with plastic wrap or a kitchen towel and leave to rise in a warm place to double the size for 30 minutes.
In the meantime, make the filling by mixing brown sugar and ground cinnamon in a small bowl.
Grease a small square or rectangular baking dish.
Once the dough has risen, lightly flour a work surface and roll the dough into a rectangle about 5x10 inches. Brush the softened butter and sprinkle the cinnamon mixture evenly.
Roll the dough gently with your hands tightly into a log shape. Cut with a sharp knife into 4 equal rolls. Transfer the rolls to the prepared baking dish
Let it sit for another 20 minutes to rise.
Preheat the oven to 400°F.
Bake for 12 to 14 minutes until lightly browned.
Prepare the icing by whisking cream cheese, butter, powdered sugar, vanilla extract and a pinch of salt until smooth.
Remove the rolls from the oven and spread the icing on top.
Serve immediately.