Lazy Morning Cinnamon Rolls

Preheat oven to 350°. On a lightly floured surface, roll dough to a roughly 12x6-inch rectangle.

Spread butter evenly over dough. In a small bowl, combine brown sugar, cinnamon and salt. Sprinkle mixture evenly over butter; pat gently.

Starting on a long side, roll the dough into a tight spiral, tucking it as you go. Pinch to seal. Slice into 8 equal pieces. Arrange cut sides up in a greased 9-inch-round cake pan or baking dish. Press down gently on each roll to flatten slightly. Brush 2 tablespoons of the milk over the tops and sides of rolls. Bake until lightly golden and cooked through, 25 to 30 minutes (190° internal temperature). Cool in pan on a wire rack for 5 minutes.

Whisk cream cheese with remaining 1 tablespoon milk until nearly smooth. Whisk in powdered sugar until smooth and glaze-like. Spread over cinnamon rolls. Serve warm.