Step 1: Prepare the Dough (Skip If Using Store-Bought)

1. In a small bowl, combine warm milk, yeast, and a pinch of sugar. Let sit for 5-10 minutes until foamy.
2. In a large bowl, mix flour, sugar, and salt. Add melted butter, egg, and yeast mixture. Stir until a dough forms.
3. Knead for 8-10 minutes until smooth. Place dough in a greased bowl, cover, and let rise for 1-1.5 hours until doubled in size.

Step 2: Make the Oreo Filling

1. In a bowl, mix crushed Oreo cookies, brown sugar, cocoa powder, and cinnamon.
2. Add softened butter and mix until combined.

Step 3: Assemble the Rolls

1. Roll out dough into a 12×18-inch rectangle.
2. Spread the Oreo filling evenly over the dough.
3. Roll tightly into a log and slice into 10-12 rolls.
4. Arrange rolls in a greased 9×13-inch baking dish. Cover and let rise for 30 minutes.

Step 4: Bake the Rolls

1. Preheat oven to 350°F (175°C).
2. Pour ¼ cup heavy cream over the rolls (optional but makes them extra soft).
3. Bake for 20-25 minutes or until golden brown.

Step 5: Make the Frosting & Serve

1. In a bowl, beat cream cheese, powdered sugar, vanilla, and milk until smooth.
2. Spread over warm rolls and top with crushed Oreo cookies.
3. Enjoy immediately!