In a large bowl, combine warm milk, sugar, and yeast. Let sit for 5-10 minutes until foamy.
Add melted butter, egg, and salt to the yeast mixture. Stir to combine.
Gradually mix in flour until the dough comes together.
Knead the dough on a floured surface for about 5 minutes until smooth and elastic.
Place dough in greased bowl, cover, and let rise for 1 hour or until doubled in size.
Roll out dough into a large rectangle. Spread softened butter over the surface.
Mix brown sugar and cinnamon and sprinkle over buttered dough.
Roll up the dough tightly and slice into 12 rolls.
Place rolls in greased pressure cooker insert. Cook on high pressure for 20 minutes and quick release.
While rolls cool slightly, make frosting by beating cream cheese, butter, powdered sugar, vanilla, salt and milk until smooth. Spread over warm rolls and serve.
Notes
Best enjoyed warm. Store leftovers in an airtight container and reheat before serving.