Add warm water and yeast to the bowl of a stand mixer. Let sit 5–10 minutes until foamy.
Fit the mixer with the paddle attachment. Add sugar, salt, milk, egg, and oil. Mix until combined.
Add 2 cups of flour and mix on low until smooth.
Add remaining flour, 1 cup at a time, stopping at 4 cups. The dough should be soft and slightly tacky, not sticky.
Switch to the dough hook and knead on low to medium speed for 5–10 minutes until smooth and elastic.
Transfer dough to a greased bowl, turn once, cover, and let rise until doubled in size, about 1½–2 hours.
Punch down dough and roll into a 20×30-inch rectangle on a lightly floured surface.
For the Filling
Mix melted butter, brown sugar, and cinnamon.
Spread evenly over dough, leaving a ½-inch border.
Roll tightly from the long edge into a log.
Cut into 1½-inch rolls.
Place rolls in a greased 9×13 pan. Cover and let rise until doubled, about 1 hour.
Bake at 350°F for 15–20 minutes, until edges are lightly golden.
For the Frosting
Beat cream cheese and butter until smooth.
Add powdered sugar gradually, then milk, mixing until creamy.
Spread over warm rolls.
Notes
If you want fresh, warm cinnamon rolls in the morning without the early wake-up, this recipe is easy to prep the night before.
Prepare the dough and filling as directed, roll and slice the cinnamon rolls, then place them in a greased 9×13 baking dish. Cover the pan tightly with plastic wrap or a lid and refrigerate overnight. This slow, cold rise helps develop flavor and keeps the dough from overproofing.
In the morning, remove the pan from the refrigerator and let the rolls sit at room temperature for 45 to 60 minutes, or until they look puffy and have risen slightly. Preheat the oven to 350°F and bake as directed until the edges are lightly golden and the centers are soft and baked through.
Once out of the oven, frost the rolls while they are still warm so the frosting melts into every swirl. This overnight method is perfect for holidays, weekends, and busy mornings when you want something special without the rush.