Melt 1/4 cup of unsalted butter in a saucepan and heat 1 cup of milk until warm (about 100-110°F). In a mixing bowl, combine warm milk with 2 tablespoons of sugar and 1 packet of yeast. Let sit until frothy, about 10 minutes.

Whisk in melted butter, 1 egg, and 1 teaspoon of vanilla extract. In a separate bowl, mix 3 cups of flour and 1 teaspoon of salt. Gradually combine dry ingredients with wet mixture, stirring until a soft dough forms.

Lightly flour a clean surface, turn dough out, and knead for about 5 minutes until slightly tacky and smooth. Avoid over-kneading.

Place kneaded dough in a greased bowl, cover with a towel, and let rest in a warm place for 10 minutes.

Prepare filling by blending 1/4 cup softened butter, 1/2 cup brown sugar, 2 tablespoons cinnamon, and 1 teaspoon vanilla until smooth.

Roll rested dough into a rectangle (12x18 inches) and spread filling evenly. Roll dough tightly into a log and slice into 1-inch pieces.

Arrange rolls in a greased baking dish, preheat oven to 350°F and bake for 20-25 minutes or until golden brown.

Cool cinnamon rolls for about 10 minutes. Prepare cream cheese icing by mixing cream cheese, powdered sugar, vanilla, and milk until smooth. Drizzle over warm rolls.