Warm the Milk and Butter
In a small microwave-safe bowl, heat the milk and butter together until the butter is just melted and the milk is warm but not hot (around 100–110°F). Stir in the sugar.

Add the Yeast
Sprinkle the yeast over the milk mixture and stir. Let it sit for 5 minutes to activate slightly—it should look a little foamy.

Make the Dough
In a separate bowl, combine the flour and salt. Add the milk-yeast mixture and stir until a dough forms. Knead for 3–4 minutes until the dough is soft and smooth. Cover and let rest for 10 minutes.

Prepare the Filling
Mix the brown sugar and cinnamon together in a small bowl. Set aside.

Roll and Fill the Dough
Roll the dough out on a lightly floured surface into a small rectangle (about 5×8 inches). Spread softened butter over the surface, then sprinkle the cinnamon-sugar mixture evenly over the top.

Shape the Roll
Roll the dough up tightly, starting from the short end. Pinch the edge to seal and place seam-side down. Slice about 1/2 inch off each end for a cleaner look, if desired.

Place in Baking Dish
Lightly grease a ramekin or small baking dish (around 4–5 inches wide). Place the roll inside, cover loosely with a towel, and let rise in a warm spot for 20–30 minutes, or until puffed.

Bake
Preheat oven to 350°F (175°C). Bake the roll for 18–22 minutes, or until golden brown and baked through.

Make the Icing
While the roll is baking, beat the cream cheese, butter, powdered sugar, milk, vanilla, and salt until smooth and creamy.

Serve
Let the roll cool for 5 minutes before spooning the icing over the top. Serve warm with a fork and a smile.