Make the dough: Add milk to the bowl and sprinkle yeast on top. The yeast will begin to foam in around five minutes. Add sugar, egg, egg yolk, and butter. Mix well. Add flour, salt, and stir with a wooden spoon until a dough begins to form. On a floured surface, knead the dough with your hands for 8-10 minutes. Transfer the dough ball to a buttered bowl, and cover it with a kitchen towel. Rise for one hour.

While the dough is rising make the filling: Mix together the butter, brown sugar & cinnamon in a small bowl. Reserve.

Make the frosting: In the bowl of a stand mixer fitted with a whisk, beat the cream cheese and butter together on medium speed until smooth, about 2 minutes. Add the maple syrup, vanilla, and a pinch of salt. Beat for 2 minutes. You can also make this by hand with a wooden spoon and some elbow grease.

Shape and bake the rolls: Transfer dough to a well-floured clean surface and roll out into a 14-by-9-inch rectangle. Spread filling on the dough, leaving a ¼-inch border. Tightly roll the dough up, starting from the long side, and place the seam side down. Cut into 2-inch slices with a sharp knife. You should yield 12 rolls.

Line a large cast iron pan or 9” baking dish with parchment paper. Place rolls in the dish and cover with plastic wrap and let rise again for 30 minutes. (At this point you could also put them in the fridge overnight and then pull out the next day 30 minutes before baking.) Bake in a 350 degree oven for 25 minutes or until just slightly golden but cooked through. Allow them to cool for around five minutes before frosting.