Mix the warm milk with the instant yeast. Place all ingredients in mixer bowl with dough hook, flour, sugar, salt, then add egg, butter and milk/yeast mixture. Knead for 7 minutes to obtain a homogeneous dough. Leave to rise for 1h30 - 2 h until doubled in volume.
In a medium bowl, combine the softened butter with the brown sugar, ground cinnamon and vanilla and stir until smooth.
Roll out the dough into a large rectangle and apply a layer of cinnamon filling over the entire surface. Roll the dough lengthwise to form a long sausage.
Cut 3 cm-thick slices with a knife and place in a greased baking dish. Cover with a kitchen towel and leave to rise for 1 hour. Bake in a preheated oven at 350°F/180C for 20-25 minutes, until golden brown.).
Cook the caster sugar in a saucepan until melted and amber in color. Add the heavy cream in batches and stir to incorporate; then add the butter and stir again to incorporate.
In a bowl, mix the cream cheese with the softened butter, powdered sugar, vanilla and caramel. Brush the glaze over the warm cinnamon rolls.
Enjoy salted caramel cinnamon rolls for breakfast, or any time you feel like a pick-me-up.