In a large mixing bowl (or the bowl of a stand mixer), combine the warm milk, yeast, and 1 teaspoon of the granulated sugar. Stir gently and let sit for 5-10 minutes until foamy, indicating the yeast is active.

Add the remaining granulated sugar, melted butter, and egg to the yeast mixture. Whisk until well combined.

Gradually add the flour and salt to the wet ingredients. If using a stand mixer, attach the dough hook and mix on low speed until a shaggy dough forms, then increase speed to medium-low and knead for 5-7 minutes until the dough is smooth and elastic. If kneading by hand, turn the dough out onto a lightly floured surface and knead for 8-10 minutes.

Lightly grease a clean large bowl. Place the dough in the bowl, turning once to coat. Cover the bowl with plastic wrap or a clean kitchen towel and let rise in a warm place for 60-90 minutes, or until doubled in size.

While the dough is rising, prepare the filling. In a medium bowl, combine the softened butter, powdered sugar, finely ground pistachios, and almond extract (if using). Mix with a fork or rubber spatula until a creamy, spreadable paste forms.

Once the dough has doubled, gently punch it down to release the air. Turn the dough out onto a lightly floured surface and roll it into a large rectangle, approximately 18x12 inches (45x30 cm).

Evenly spread the pistachio filling over the entire surface of the dough, leaving a small border (about 1/2 inch) on one of the long edges.

Starting from the long edge opposite the border, tightly roll the dough into a log. Pinch the seam closed to seal.

Using a sharp knife or unflavored dental floss, cut the log into 12 equal slices (about 1.5 inches thick).

Lightly grease a 9x13 inch baking dish. Arrange the cut rolls in the prepared dish, leaving a little space between each.

Cover the baking dish loosely with plastic wrap or a kitchen towel and let rise in a warm place for another 30-45 minutes, or until the rolls are puffy and nearly touching.

Preheat your oven to 375°F (190°C) during the last 15 minutes of the second rise.

Bake for 20-25 minutes, or until the rolls are golden brown and cooked through. If they start to brown too quickly, you can loosely tent them with aluminum foil.

Remove from the oven and let cool in the pan for 10-15 minutes while you prepare the glaze.

In a medium bowl, combine the softened cream cheese and softened butter. Beat with a whisk or electric mixer until smooth and creamy.

Gradually add the powdered sugar, mixing until fully incorporated. Add the vanilla extract and 1 tablespoon of milk or cream. Mix until smooth.

Add additional milk or cream, one tablespoon at a time, until the glaze reaches your desired pourable consistency.

Pour or spread the cream cheese glaze evenly over the warm (but not hot) cinnamon rolls.

If desired, sprinkle with chopped pistachios for garnish.

Serve immediately and enjoy!