Easy Cinnamon Rolls from Scratch

Soft and simple cinnamon rolls filled with a sticky brown-sugar filling and topped with a cream-cheese glaze.

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Warm the milk and activate the yeast: Warm the whole milk to 40°C (105°F). Whisk in the granulated sugar and instant yeast. Let sit for 3–5 minutes until foamy.
Mix the dough: In a mixer bowl, combine the all-purpose flour and salt. Add the milk-yeast mixture, softened butter, and egg. Mix on low until a shaggy dough forms, then knead until smooth.
First rise: Lightly oil the bowl and let the dough rise covered in a warm spot for 45–60 minutes, until doubled.
Roll the dough and add the filling: Roll the dough into a rectangle, brush with melted butter, and sprinkle the sugar-cinnamon mixture over it.
Shape and cut the rolls: Roll the dough tightly into a log, pinch to seal, and cut into 12 pieces.
Second rise: Cover the rolls and let them rise again for 25–30 minutes while preheating the oven.
Bake: Bake at 190°C (375°F) for 18–22 minutes until golden brown.
Make the glaze: Beat the cream cheese with powdered sugar and milk until smooth, then spread over warm rolls.

For best results, measure flour by weight. Can be made overnight by refrigerating after shaping.