In a mixing bowl, combine flour, yeast, sugar, and salt. Add warm milk and melted butter, and mix until a dough forms.

Knead the dough on a floured surface for about 5 minutes until smooth. Place in a greased bowl, cover, and let rise for 1 hour or until doubled in size.

In a small bowl, mix brown sugar, cinnamon, and softened butter until well combined.

Preheat the oven to 350?F (175?C). Roll out the risen dough into a rectangle about 1/4 inch thick.

Spread the filling evenly over the dough. Roll the dough tightly into a log and slice into 8 equal pieces.

Place the rolls in a greased baking dish and let rise for another 30 minutes.

Bake the rolls in the preheated oven for 20-25 minutes until golden brown.

In a saucepan, heat heavy cream until just simmering. In a bowl, whisk together sugar, vanilla, and egg yolks. Gradually add the hot cream to the egg mixture, whisking constantly.

Pour the mixture over the baked rolls and return to the oven for an additional 10 minutes.

Sprinkle granulated sugar evenly over the top of the rolls. Use a kitchen torch to caramelize the sugar until golden and crispy.

Let cool slightly before serving. Enjoy your cr?me br?l?e cinnamon rolls!