In a small bowl mix the warm water and yeast. Set aside for 10 minutes.
In a large bowl, add the all-purpose flour, milk, egg, butter, sugar, and baking powder. Whisk repeatedly.
Incorporate the yeast water and keep mixing.
Transfer to a flat surface with flour and knead the dough for 10 minutes.
Place in a bowl, cover it, and let it rise until it doubles in size (around 1 hour).
While waiting, whip up the filling mixing in a small bowl the melted butter, brown sugar, and ground cinnamon.
Preheat oven to 350F.
Once the dough it has risen, punch it down and transfer to a flat surface with flour and stretch it with a rolling pin into a rectangular shape.
Spread the cinnamon-sugar filling over the dough in a uniform way.
Roll the dough and cut it into slices.
Grease a standard muffin pan and place the cinnamon rolls into it, cut side down.
Take it to the oven and bake for 20-30 minutes.
While baking, mix the cream cheese, sugar, and milk to obtain the glaze.
Remove the tray from the oven, and transfer the muffins to a rack to cool down for 10 minutes.
Drizzle with the glaze.
Serve while warm and enjoy.
Note: If desiring mini muffins, use a mini muffin pan and subtract 5-10 minutes of bake time. If desiring jumbo muffins, use jumbo muffin pan and add 5-10 minutes of bake time.