Add the warm milk and the yeast to a stand mixer bowl. Let it sit for about 5 minutes until yeast is activated. Add the egg, butter, salt, sugar and flour. With with dough hook, beat on low for 2 minutes until the dough is combined and forms a ball. Then let the dough hook knead the dough on medium speed for about 8-9 minutes. The dough will be soft and just slightly sticky. Cover the dough and let it rise in a warm place until doubled in size, about 20-30 minutes.
Roll out the dough into a 10x20 rectangle. Spread the butter and apple butter to cover the dough. Sprinkle brown sugar and cinnamon over the top, then roll it up like a jelly roll. Cut it into 9 slices (about 2 inches each) and place them into a 9x9 baking pan that has been sprayed with cooking spray.
Set the pan of cinnamon rolls in a warm place to rise for 20 minutes. After they are done rising, bake them at 400 degrees for 12-15 minutes until lightly browned.
While they are cooling, make the frosting. Beat the cream cheese and butter together until smooth. Add the powdered sugar and cinnamon. Beat until well blended.
Spread the frosting over the warm cinnamon rolls.
The calories shown are based on the recipe making 9 rolls, with 1 serving being 1 frosted sweet roll. Since different brands of ingredients have different nutritional information, the calories shown are just an estimate.