Mix the warm milk, melted butter and sugar in a large bowl
Sprinkle the yeast evenly over the top and leave to stand for 1 minute
Add the flour and mix thoroughly with a wooden spoon
Cover the bowl with a tea towel and leave to prove for 1 hour
Add the baking powder, salt and flour and mix well with a wooden spoon
Turn out onto a floured surface
Kneed lightly pull the dough into a smooth ball shape
Roll out into an rectangle roughly ¼ inch thick
Spread the softened butter over the dough, right up to the edges
Sprinkle the brown sugar and cinnamon evenly over the dough
Roll up the dough from the longer side
Slice into roughly 12 evenly spaced pieces, and place these flat-side down on a greased baking tray so the spiralled centre with the sugar and cinnamon faces upwards
Cover with cling film and leave to rest for 30 minutes
Bake for 25-30 minutes at 180c until golden brown and risen well
Icing
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Whisk the cream cheese, melted butter and milk until fully combined and smooth
Add the icing sugar and mix well
Drizzle over the still-warm cinnamon rolls and serve