Classic Cinnamon Rolls

Warm the milk until just lukewarm, then combine with yeast and a pinch of sugar; let sit until foamy, about 5 minutes.

In a large bowl, mix flour, granulated sugar, and salt. Add melted butter, eggs, and yeast mixture; knead until smooth and elastic, about 8 minutes.

Place dough in a greased bowl, cover, and let rise in a warm spot until doubled, about 1 hour.

Punch down dough and roll out on a floured surface to a 16x12-inch rectangle.

Spread softened butter over dough, sprinkle evenly with brown sugar and cinnamon.

Tightly roll up the dough from the long side, then slice into 12 even rolls.

Arrange rolls in a greased baking pan, cover, and let rise until puffy, about 30 minutes.

Bake at 350°F (175°C) for 25-30 minutes, until golden brown.

For glaze, beat cream cheese, powdered sugar, milk, and vanilla until smooth; drizzle over warm rolls if desired.