Apple Butter Cinnamon Rolls with Vanilla Glaze

0 Spray two 8-inch round cake pans or one 9x13 baking dish with nonstick cooking spray. 
1 Heat 1 1/2 cups milk in the microwave until warm to the touch. Combine milk and melted butter in the bowl of a standing mixer. Stir in yeast and white sugar. Let sit for 5 minutes. 
2 To the yeast mixture, add flour, and salt. Mix on low until the ingredients come together. Increase speed to medium and mix for 5 minutes, until the dough is smooth and elastic and begins to make a slapping sound as it hits the sides of the bowl. 
3 Remove the bowl from the mixer and cover the dough with a dish towel. Let dough rise (preferably near the warm oven), until the surface is smooth, about 15 minutes. 
4 Turn the dough out on a lightly floured surface and roll it into a rectangle (approximately 9"x18") with the long side facing you. 
5 Spread apple butter over the dough, leaving about 1 inch of space on all sides. Combine brown sugar and cinnamon. Sprinkle sugar-cinnamon mixture over apple butter.
6 Starting with the side closest to you, roll up the dough. Slice roll of dough in half. Slice each half into 8 rounds (you should have 16 rolls total). Place the slices in the prepared baking dish(es).
7 Preheat oven to 400°F / 200°C. 
8 Set cinnamon rolls, uncovered near the oven as it heats. Let rise until the edges of the rolls are touching (or nearly touching), 15 minutes.
9 Bake until light golden brown on top, 15 to 18 minutes.
10 While the rolls are baking, use a hand mixer to beat the cream cheese, powdered sugar, and vanilla. While beating, add milk a little at a time, until the mixture is smooth and pourable. 
11 When the rolls come out of the oven, let them cool for 5 minutes before drizzling icing over top.
12 Serve warm.