Dough
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

Filling
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

Glaze
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