Pour warm milk into a mixing bowl. Stir in 2 tablespoons of granulated sugar and the active dry yeast. Let sit for 3-5 minutes until frothy.

Add the room temperature egg and softened butter, blending well. Gradually incorporate the remaining sugar, flour, and salt.

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

Transfer the kneaded dough into a greased bowl, covering with a damp cloth or plastic wrap. Allow to rise for about 30 minutes or until doubled in size.

Mix ½ cup of brown sugar and 1 tablespoon of ground cinnamon in a bowl. Grease your baking pan and set aside.

Punch down the risen dough and turn onto a floured surface. Roll into a rectangle (12x8 inches). Spread pistachio cream, sprinkle cinnamon-sugar, and chopped pistachios.

Roll tightly from one long side, cut into 6 equal rolls.

Place rolls in the prepared pan, cover loosely with a cloth. Let rise for another 45 minutes or until puffy and touching.

Preheat oven to 350°F. Pour ⅓ cup of warm heavy cream over the rolls before baking. Bake for 23-30 minutes until golden brown.

Combine softened cream cheese, ¼ cup pistachio cream, powdered sugar, and vanilla extract in a bowl. Beat until smooth and creamy.

Spread the icing over the warm rolls. Serve immediately.