Mix milk, dry yeast and ¼ tsp of white sugar in a small container and let it stand for about 8-10 minutes or until a foam forms on top indicating that the yeast is activated.
Add the egg and melted butter to the yeast mixture and stir well.
Add flour, white sugar and salt to the bowl of a standing mixer and whisk well.
Make a well in the center and add the yeast and egg mixture. Start mixing with the mixer's dough hook at low speed, then increase to medium speed and let it knead the dough for about 8-10 minutes or until it is smooth and elastic. You can also knead the dough by hand on a flat, floured surface.
Grease a large bowl with oil. Shape the dough into a ball and place it in the bowl. Cover with plastic wrap and let it rise in a warm place for about 1 hour to 1½ hours or until it doubles in size.
In a small bowl mix the brown sugar and cinnamon. Set aside.
Once the dough has doubled in size, gently punch it with your hand and roll it flat on a floured surface to form a large rectangle (12 x 14 inch or 30 x 35 cm). Make sure the longer side is facing you.
Spread the butter over the dough with an offset spatula. Sprinkle the cinnamon sugar over the dough leaving about 1 inch (2.5 cm) from the border of the long side that is away from you. Gently press it with a rolling pin so that it sticks firmly to the dough.
Roll the dough tightly starting with the long side facing you and ending on the long side that is away from you.
Cut the roll into 6 equal sized rolls with a knife and place them on a 9 x 13 inch (23 x 33 cm) baking pan that has been lined with parchment paper. You can also cut it into 10-12 smaller rolls.
Cover the rolls loosely with plastic wrap and let them rise again for about 45 minutes to 1 hour.
Once they have doubled in size, bake them in a pre-heated oven at 350ºF (180ºC) for about 30-35 minutes or until golden brown. Let them cool while you make the frosting.
To make the frosting beat the cream cheese and butter in a medium bowl until light and fluffy, about 2-3 minutes.
Add vanilla and salt and mix for another 2-3 minutes.
Add ½ the amount of powder sugar and and mix for 2-3 minutes. Then, add the remaining sugar and mix for 2-3 more minutes. Make sure to scrape the sides of the bowl to incorporate all of the sugar into the frosting.
Spread the frosting over the warm rolls before serving.