In a bowl, whisk together warm milk, sugar and melted butter.
Fold in 500g of plain flour to the warm milk mixture.
Sprinkle the dry yeast over the warm mixture and let it set for 1 minute.
Cover the bowl with a cling film or tea towel and let it rise for 1 hour.
Remove the cling film. Add 95g of plain flour, baking powder and salt and combine well.
Turn out the dough to a well-floured surface and knead the dough lightly. Add extra flour when necessary, to lose the stickiness of the dough.
Knead the dough and roll it out to a rectangular shape (about 1 inch thickness).
Combine 2tbsp. of unsalted butter, 4 tablespoons of cinnamon powder and 160g of brown sugar.
Spread the cinnamon powder and sugar mixture on to the dough. Starting from the short end, roll up the dough into a roll.
Cut the log into small pieces. Butter a non-stick baking tray and place the cut cinnamon rolls into the prepared tin.
Bake the cinnamon rolls at 180°c C for 20-25 minutes.
While the cinnamon rolls are baking; prepare the frosting. In a bowl, whisk together cream cheese, melted butter, milk and vanilla extract until a smooth consistency.
Let the cinnamon rolls cool for 10 minutes.
Drizzle the frosting over the cinnamon rolls.