To make the dough, whisk together the flour, sugar, and salt and set aside.
In a small saucepan, add the milk and butter. Heat until the butter is melted and the mixture is warm to the touch. Stir in yeast and set aside for 10 minutes.
Add the milk mixture and egg to the dry ingredients and stir.
Knead the dough by hand for 5 minutes or until the dough forms.
Place the dough ball in a greased bowl and cover with a towel. Allow the dough to rest for 10 minutes and then transfer to a lightly floured surface.
While the dough rests, use a fork to combine the filling ingredients.
Roll the dough out into a rectangle, about 12 inches by 8 inches.
Spread the filling ingredients out on the dough.
Carefully roll the dough, starting on the wide side.
Use a sharp knife to cut the dough into individual rolls, each about 1-2 inches thick.
Lightly grease a 12-inch skillet with cooking spray or oil. Place your cinnamon rolls in the skillet, standing them upright on their ends, and allow them to rise for about an hour or until doubled in size.
Preheat the oven to 375°F. Bake for 25 minutes, or until lightly browned.
While they are baking, add all the ingredients for the toppings to a standup mixer and mix until creamy and smooth.
After they are baked, drizzle them with the cream cheese topping and enjoy!
Notes
Your rise time may differ from mine, depending on the warmth of your house. Watch for the rolls to double in size in addition to setting the timer.
I strongly recommend investing in a high-quality grain mill. A good mill makes a huge difference in the final texture of your whole grain baked goods. I use a Mockmill professional grain mill.
If you're out of brown sugar, you can make some by stirring together 1 cup of white sugar with 1 tablespoon of molasses.
Store leftovers in an airtight container in the refrigerator. Reheat the rolls before enjoying.