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Ingredients

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• 1 cup whole milk
• 3 tablespoons unsalted butter
• 3 1/2 cups (or more) unbleached all purpose flour, divided
• 1/2 cup sugar
• 1 large egg
• 2 1/4 teaspoons rapid-rise or instant yeast (from 1 envelope yeast)
• 1 teaspoon salt
• Nonstick vegetable oil spray
• 3/4 cup (packed) golden brown sugar
• 2 tablespoons ground cinnamon
• 1/4 cup (1/2 stick) unsalted butter, at room temperature
• Pinch of salt
• 4 ounces cream cheese, at room temperature
• 1 cup powdered sugar
• 1/4 cup (1/2 stick) unsalted butter, room temperature
• 1/2 teaspoon vanilla extract