In a small saucepan over medium low heat add the milk and butter. Stir until the butter has melted and remove from heat.
In a large mixing bowl whisk together flour, yeast, sugar, and salt.
Add the egg and water and mix until just starting to combine. Slowly add in the milk mixture and mix until the dough starts to form and become smooth. Cover and let the dough rest for 10-30 minutes.
Roll the dough into a large 915 square. About -1/2 inch thick. In a small bowl combine the cinnamon and brown sugar for the filling. Spread the softened butter onto the dough and Sprinkle the cinnamon and brown sugar on top.
Roll up the 15 inch side into a log and pinch the seams. Cut into 9-12 slices depending on how thick you want your cinnamon rolls.
Preheat oven to 375 degrees. Bake for 30 minutes or until just golden brown on top.
To make the frosting combine together the cream cheese, butter, and powdered sugar until smooth. Add the vanilla and whisk. Frost over warm (not hot) cinnamon rolls and enjoy!
