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.

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.