Preparation Steps

• Preheat your oven to 375°F (190°C). Grease a 9x13 inch baking pan.
• In a large bowl, whisk together the flour, granulated sugar, baking powder, and salt.
• In a separate bowl, whisk together the milk and melted butter.
• Pour the wet ingredients into the dry ingredients and stir until just combined. The dough will be sticky.
• Turn the dough out onto a lightly floured surface and knead for about 1-2 minutes until it's smooth. It will still be a bit sticky.
• Roll the dough into a 12x18 inch rectangle.
• In a small bowl, combine the brown sugar and cinnamon. Sprinkle this mixture evenly over the rolled-out dough. Spread the softened butter over the sugar and cinnamon mixture.
• Starting from one of the longer sides, tightly roll up the dough.
• Cut the roll into 12 equal slices. Place the slices cut-side up in the prepared baking pan.
• Bake for 15-18 minutes, or until golden brown.
• While the rolls are baking, prepare the frosting. In a medium bowl, beat the cream cheese and butter until smooth. Add the powdered sugar, milk, and vanilla extract, and beat until the frosting is light and fluffy.
• Spread the frosting over the warm cinnamon rolls.