Pour your milk into a microwave safe bowl and heat it up for about 30 seconds. The milk needs to be 110 degrees F. You HAVE to test it. There's no shortcut around this. I didnt test mine the first time and it was light to the touch and still killed my yeast. You may need to put it back in for 10 seconds at a time.
Transfer warm milk to your mixing bowl and add the yeast and sugar. Let it sit for 2 minutes. Add egg, salt and melted butter. Mix until well combined.
Stir in your flour and mix together until a dough forms. If you have a dough hook, knead it for 8 minutes. Otherwise, use those hands!
Dough should form into a nice ball. If it happens to be too sticky, add in more flour one tbsp at a time. Transfer your ball of dough to a well-oiled bowl and cover with a towel or plastic wrap. Place it somewhere lukewarm and allow it to rise for one hour. The dough should double in size. **Tip: heat up your oven to 150 degrees and then turn off. Let it be 90% cooled off. You can open the door to speed this process up. This makes for a nice humid area for your dough to rise. Once the dough has risen, transfer to a floured surface area to roll out your dough. You're going to want to shape it into a rectangle. Maybe 15" in long and 10" wide or so.
Spread the caramel over the dough. You can leave the sides a little empty as we will cut them off
In a small bowl, mix together cinnamon and sugar. Sprinkle over the caramel. Make sure to press it down and kind of rub it in there.
Time to roll! You want to try to do this as tightly as possible. Tightly roll it up starting from the shorter side of the dough.
Cut off the ends of the log by about 1 inch. They are likely dry and not full of much filling. You want to make it look uniform.
Cut the log into about 9 sections. Each section should be about 1" wide. You can use the knife to lightly mark the dough first to space it out properly.
Grab your baking pan and line it with parchment paper. Place your cinnamon rolls and cover with a towel or plastic wrap. Let it rise again for another hour.
Bake at 350 degrees for 20 minutes. It's ok if they look a little soft in the middle. Let them cool completely prior to frosting