Make the Dough
1-In a large mixing bowl, whisk together: In a large mixing bowl, whisk together 3½ cups flour, instant rapid-rise yeast, sugar, and salt.
2-In a saucepan, gently warm the milk: In a saucepan, gently warm the milk and melted butter until just warm (not hot to the touch). Ideal temperature: 100-115°F / 38-46°C.
3-Pour the warm milk mixture into the: Pour the warm milk mixture into the dry ingredients. Add the lightly beaten egg and mix until a soft dough forms.
4-Transfer the dough to a floured surface: Transfer the dough to a floured surface and knead for 3-5 minutes, until smooth and elastic. Place the dough in a lightly oiled bowl, cover, and let rise in a warm (turned-off) oven for 30 minutes, or until doubled in size.

Shape the Rolls
5-Roll the dough into a 19 ×: Roll the dough into a 19 × 13-inch (48 × 33 cm) rectangle.
6-Brush with melted butter: Brush with melted butter. Mix brown sugar, cinnamon, and nuts in a bowl and sprinkle evenly over the dough.
7-Roll into a log from the long: Roll into a log from the long side and slice into 2-inch rolls.
8-Place in a greased 9 × 13-inch: Place in a greased 9 × 13-inch baking dish. Cover and let rise in a warm oven for 30 minutes.

Bake
9-Preheat oven to 350°F (175°C): Preheat oven to 350°F (175°C).
10-Bake rolls for 25-30 minutes, or until: Bake rolls for 25-30 minutes, or until lightly golden. Let cool slightly.

Make the Glaze
11-Beat together cream cheese, melted butter, milk,: Beat together cream cheese, melted butter, milk, and vanilla until smooth.
12-Add confectioners’ sugar and mix until creamy: Add confectioners’ sugar and mix until creamy.

Finish
13-Spread the glaze over warm rolls and: Spread the glaze over warm rolls and serve immediately.