Best Cinnamon Rolls

Ingredients

• whole milk, warm to the touch
• sugar
• tablespoons unsalted butter, melted
• teaspoons active dry yeast
• all-purpose flour, divided
• teaspoon baking powder
• teaspoons kosher salt
• light brown sugar
• unsalted butter, softened
• tablespoons ground cinnamon
• cream cheese, softened and cubed
• tablespoons milk
• teaspoon vanilla extract
• powdered sugar