Warm milk to about 110°F. Mix with sugar and yeast in a bowl; let sit for 3-5 minutes until frothy.

Combine activated mixture with egg and melted butter in a large bowl. Gradually add flour and salt, stirring to form shaggy dough.

Let the dough rest for 5 minutes, then knead for 5-7 minutes until smooth and elastic.

Place kneaded dough in a greased bowl, cover with a towel, and let rise for about 30 minutes until doubled in size.

Mix brown sugar and cinnamon in a bowl while the dough rises. Grease an 8-inch baking pan.

Roll risen dough into a rectangle. Spread pistachio cream, then brown sugar-cinnamon mixture. Roll tightly and slice into six rolls.

Place rolls in the baking pan, cut side up, cover with a towel, and let rise until puffy, about 45 minutes.

Preheat oven to 350°F, pour heavy cream over rolls, and bake for 23-30 minutes until golden brown.

While baking, mix cream cheese, pistachio cream, powdered sugar, and vanilla extract until smooth for icing.

Spread icing over warm rolls out of the oven and serve immediately.