Place milk and 4 Tbsp. butter in a microwave safe bowl. Heat on high for 1 minute 30 seconds. Butter should be at least partially melted. Stir and set aside.

In a large mixing bowl whisk together 2 cups flour, yeast, white sugar, and salt.

When milk mixture has cooled to warm (not hot) add it to the flour mixture along with the egg while the beater (paddle attachment for those using a stand mixer) is running. Beat until well combined, about 1 minute. (Switch to the dough hook now)

Add remaining flour only until dough barely leaves the sides of the bowl. It should be very soft and slightly sticky. Continue to let the dough knead for 5 minutes. If you are not using a stand mixer, turn dough out onto floured surface and knead for 5 minutes by hand.

Turn dough out onto a floured surface and let rest for about 10 minutes while you make the filling.

Mix softened butter with brown sugar, cinnamon and salt.

Roll dough into a rectangle about 12 x 14 inches. Spread brown sugar mixture over the surface and use your fingers or the back of a spoon to gently spread around.

Roll up from the longer side of the rectangle and pinch edges closed. Score the roll into 12 equal pieces and then cut into rolls using floss. Place in a 9 x 13 pan that has been sprayed with cooking spray. Cover pan with a clean towel and let rise in a warm place for about 30 minutes.

Preheat oven to 350 degrees. When rolls have finished rising, bake for 15-20 minutes or until light golden brown.

As rolls are cooling make the glaze by whisking the cream cheese and butter in a bowl of a stand mixer (or use a hand mixer) until smooth. Add the milk and whisk until combined. Sift in the powdered sugar and whisk until smooth. Add the vanilla and whisk until incorporated. Spread over the rolls.