In a small bowl, dissolve yeast in warm water and set aside.

In a large bowl, mix milk, sugar, melted butter, salt and egg. Add 2 cups of flour and mix until smooth.

Mix in yeast mixture.

Mix in remaining flour until dough in easy to handle.

Knead dough on a lightly floured surface for 5-10 minutes. Or use a mixer with a dough hook, on low speed for 5 minutes.

Place in well grease bowl, cover, and let sit for 90 minutes. The dough should have doubled in size.

Coat the bottom of the baking pan with butter and sprinkle with sugar. Place cinnamon rolls close together in pan but they don't have to touch.

Bake at 350 for about 25-30 minutes or until nicely browned.

While those are baking, mix softened cream cheese, softened butter, powdered sugar, and vanilla in mixer on medium speed for about 2 minutes. It works best to add the powdered sugar a cup at a time. And if you want thinner frosting, you can add a little milk while mixing.

Once cinnamon rolls are done baking, spread cream cheese frosting on warm rolls. Let stand for about 30 minutes.

Enjoy!