Gather Ingredients. Preheat the oven to 400 degrees F (200 degrees C). Brush an 8-inch square baking dish with 1 tablespoon of the melted butter.

To make the dough: Whisk flour, white sugar, baking powder, and salt together in a large bowl. Work 3 tablespoons softened butter into flour mixture using your hands until butter is lentil-sized.

Pour milk into flour-butter mixture and stir with a rubber spatula until a soft dough forms.

Turn dough out onto a well-floured work surface and roll dough into a 10-inch square pan. Brush surface of dough with remaining 2 tablespoons melted butter.

To make the filling: Whisk 1/4 cup white sugar, brown sugar, and cinnamon together in a small bowl. Sprinkle 1 tablespoon cinnamon-sugar mixture in the bottom of the prepared baking dish. Sprinkle remaining cinnamon sugar over butter-brushed dough.

Roll dough around filling to form a log; cut log into 9 rolls about 1-inch wide; place rolls, cut-side up, in the prepared baking dish.

Bake in the preheated oven until rolls are puffed and lightly golden, 20 to 25 minutes.

To make the frosting: Beat confectioners' sugar, cream cheese, 1/4 cup softened butter, and vanilla extract together in a bowl until frosting is smooth.

Top hot cinnamon rolls with cream cheese frosting.