Stir the milk, yeast and 1 tablespoon sugar together and wait 7 minutes until foamy.
Knead in the remaining sugar, egg, melted butter, flour and salt for 8 minutes, then cover and rise until doubled, about 70 minutes.
Roll the dough into a 16-by-12-inch rectangle, spread with softened butter, and cover evenly with the brown sugar and cinnamon.
Roll from a long edge, cut into 12 pieces, arrange in a greased pan, and rise for 35 minutes until puffy.
Bake at 350°F for 22 to 25 minutes until the center reaches 190°F, then beat the cream cheese with powdered sugar and spread it over the rolls after 10 minutes of cooling.