• In a bowl of a stand mixer fitted with a dough hook, add the milk and stir in the yeast and one tablespoon of sugar. Leave it to sit for 5-10 minutes until foamy. Add to it the remaining sugar, eggs, flour, and salt. Turn the mixer on low and combine until it forms a thick but slightly sticky dough. Mix this dough for around 5 minutes to begin developing
• Add in the cubed butter, a few pieces at a time. Incorporate each cube before the next addition.
• Turn the mixer on medium and keep it mixing until the sticky dough starts to strengthen and come together and pull away cleanly from the sides of the bowl. For the best gluten development and brioche crumb, mix the dough for at least 15 minutes. Proper gluten development will allow you to stretch the dough so thin you can almost see through it. This is called the 'window pane' effect.
• Pull the dough from the bowl onto a bench and form it into a ball. Place the dough ball into a clean bowl and cover it. Let it proof at room temperature for 1.5- 2 hours until doubled in size.

  The rising time will happen fastest with instant yeast and slower with active dried yeast.
• Deflate the dough gently and reshape it into a rough ball again. Cover it lid or plate, or a damp tea towel and place it in the fridge overnight. This step can be shortened, but a long cold proof of 8-12 hours gives the best flavor.
• Pull the proofed dough from the bowl and tip it onto a floured bench. Roll the dough out into a 12x18 inch (30x45cm) rectangle. Spread softened butter over the dough. In a bowl, mix together the brown sugar and ground cinnamon. Sprinkle the cinnamon sugar over the butter.

  Tightly roll the dough to form an 18-inch/45cm long log. Slice the log into 12 even-sized pieces. The unraveling end parts of each roll can be tucked under to keep them tight.
• Grease a 12-inch/30cm cast-iron skillet or 9x13 inch/23x33cm baking dish. Place in the rolls and cover them with a light-weight, slightly dampened kitchen towel (to stop the tops drying out). Let them rise at room temperature, puffy, and doubled in size.
• Preheat the oven to 350°F/180°C.
• Bake the brioche cinnamon rolls for approximately 25-28 minutes until puffed up and browned on the tops. The rolls can be covered with aluminum foil halfway through baking if the tops are browning too fast. After baking, let them cool for 10 minutes before glazing.

The frosting

• Beat the cream cheese in a mixer until smooth and creamy. Add the confectioners’ sugar, vanilla, and milk. Beat it together until creamy. Spread the icing over the still-warm cinnamon rolls and serve immediately.