In a saucepan over medium heat, add milk and butter. Stir until melted and remove from heat.
In a mixing bowl, combine 2¼ cup flour (holding remaining cup back), sugar, salt. Add yeast and lukewarm milk mixture, and combine. Add egg until just combined.
Using the dough hook attachment on your mixer (or hands), knead while gradually adding in the remaining 1 cup of flour, until the dough forms a ball and pulls away from the edges of the bowl.
Let dough rest for 10 minutes. Preheat oven to 350℉.
Fill
On a floured surface, roll out dough into a rectangle. Spread melted butter on top. Combine cinnamon, sugar and sprinkle on top. Using a knife or pizza cutter, cut 10 strips. Roll and place in a baking dish or cast iron skillet.
Turn oven off. Cover rolls with a damp towel and allow to rise for 25 minutes inside the warmed oven. Remove from oven, preheat again to 350℉. Cover rolls in ¼ cup heavy cream. Bake 15-20 minutes, or until slightly golden.
Icing
In a medium mixing bowl, whisk together to combine cream cheese, butter, powdered sugar and heavy cream until smooth. Drizzle over rolls.
Notes
To Store
Room Temperature - Up to 2 days covered or in an airtight container.
Refrigerate - Up to 5 days covered or in an airtight container.
Freeze - In a freezer bag or airtight container, up to 3 months.