Combine warm milk, granulated sugar, and active dry yeast in a bowl.Foam should appear after 3-5 minutes.

In a mixing bowl, combine frothy yeast mixture, egg, and melted butter. Gradually incorporate bread flour and salt. Allow to rest for 5 minutes.

Knead the dough for 5-7 minutes until smooth and elastic. Dough should spring back when pressed gently.

Let the kneaded dough rise in a greased bowl until doubled in size (about 30 minutes).

Prepare the filling by mixing brown sugar and ground cinnamon. Grease a baking pan.

Roll out dough into a rectangle, spread pistachio cream, sprinkle cinnamon-sugar mixture and chopped pistachios. Roll tightly and slice into 6 pieces.

Let the sliced rolls rise in a greased pan for about 45 minutes, until puffy.

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

Prepare icing by mixing cream cheese, pistachio cream, powdered sugar, and vanilla until smooth.

Drizzle icing over warm rolls and serve immediately.