Step 1
Pour milk into a microwave-safe bowl and heat in the microwave until warm but not hot to the touch 45 to 60 seconds. It should be about 105 degrees F (41 degrees C). Pour into the bowl of a standing mixer.
Step 2
Add 1 tablespoon sugar and yeast to the warm milk. Stir and let sit (proof) until foamy about 5 minutes. Add 1/2 cup sugar melted butter eggs and vanilla extract; stir with a dough hook until combined.
Step 3
Add 4 cups flour sea salt and cinnamon; stir with the dough hook starting on low speed and gradually increasing to high speed until a large ball of smooth and slightly tacky dough is formed. Add 1 tablespoon flour at a time if dough seems too sticky until a smooth ball is formed.
Step 4
Transfer dough to a floured surface and knead with your hands until smooth and elastic 3 to 5 minutes. Form into a ball and place inside a greased bowl. Cover the bowl with a warm damp towel and let dough rise in a warm place until doubled in size about 1 hour.
Step 5
While the dough is rising combine brown sugar softened butter and cinnamon for the filling in a small bowl until uniform throughout. Set aside.
Step 6
Gently press the gas out of the dough and transfer to a large floured work surface. Roll the dough into a 24x12-inch rectangle about 1/4-inch thick. Spread the filling over the dough with greased hands or a greased spatula. Roll up the dough and cut into 12 equally sized rolls about 2-inches long.
Step 7
Line a 9x13-inch glass baking dish with lightly greased parchment paper. Place cinnamon rolls in the prepared baking dish in 4 rows of 3 evenly spaced. Cover and let rise until nearly doubled about 30 minutes.
Step 8
Meanwhile preheat the oven to 350 degrees F (175 degrees C).
Step 9
Bake rolls in the preheated oven until golden brown 18 to 20 minutes.
Step 9
While the rolls are baking beat together powdered sugar cream cheese softened butter vanilla extract and salt for frosting. Keep at room temperature while rolls bake.