Warm the milk in a small sauce pot over medium-low heat. In a small bowl add the warm milk. Sprinkle in the yeast and ¼ teaspoon sugar. Do not stir. Allow to sit in a warm place for about 5 minutes or until foamy and frothy. If it doesn't foam up after 5 minutes, toss and start over. Whisk in the melted butter, egg yolk and vanilla extract.

In a large mixing bowl, combine the flour, granulated sugar, salt and freshly ground nutmeg. Whisk until evenly combined. Make a well in the center and pour in the wet mixture. Mix with a wooden spoon until a rough dough ball forms. You can mix it with the dough hook of an electric mixer, kneading for about 4 to 6 minutes until smooth, soft and elastic. Or you transfer the dough to a lightly floured work surface and knead by hand for about 5 to 6 minutes until soft and elastic. Place the dough in an oiled bowl and cover lightly with plastic wrap and a damp cloth. Allow to rest in a warm spot for about 1 hour or until doubled in size.

To make the filling, in a small bowl, combine the brown sugar, granulated sugar, and cinnamon. Punch the dough down and transfer to a lightly floured work surface. Roll out into a large rectangle about a half of an inch thick. Slather with the softened butter in an even layer and sprinkle generously with the cinnamon sugar filling. Roll the dough tightly into a log, lengthwise, pinching the seam to close it. Cut the log into 8 medium rolls or 6 large rolls. Transfer to a greased baking dish (9x13 inches), spacing them evenly apart. Cover lightly with plastic wrap and a damp kitchen towel. Allow to rest in a warm spot for about 1 hour or until doubled in size. Meanwhile, preheat oven to 350°F.

Bake the rolls for about 30 to 35 minutes or until golden brown all around. Remove from oven and allow to cool slightly for about 15 minutes before frosting.

To make the frosting, in a large bowl, cream together the butter and cream cheese until light and fluffy, about 5 minutes. Add the powered sugar and cinnamon and continue to mix until incorporated. Lather the rolls with the frosting. Will keep for about 4 days wrapped well in plastic wrap or stored in an airtight container. Rewarm in the oven for a few minutes before eating. Enjoy!