Activate the Yeast: In a large bowl, combine the warm milk, yeast, and a pinch of sugar. Let it sit for 5-10 minutes, or until the mixture becomes frothy.

Make the Dough: Add the remaining sugar, melted butter, and egg to the yeast mixture. Stir to combine. Gradually add the flour and salt, mixing until a shaggy dough forms. Turn the dough out onto a lightly floured surface and knead for about 5 minutes, until it becomes smooth and elastic. Place the dough in a lightly oiled bowl, cover it with a clean towel, and let it rise in a warm place for 45-60 minutes, or until it has doubled in size.

Prepare the Filling: In a separate bowl, cream together the softened butter, brown sugar, and cinnamon until well combined. In a small bowl, toss the blueberries with 1 tablespoon of flour. This helps absorb excess moisture and prevents the filling from becoming too runny.

Assemble the Rolls: Once the dough has risen, punch it down and roll it out into a large rectangle, about 12x18 inches. Spread the cinnamon-sugar filling evenly over the dough, leaving a small border at the top. Sprinkle the floured blueberries evenly over the filling.

Roll and Slice: Tightly roll the dough into a log, starting from the long side. Slice the log into 12 equal rolls using a sharp knife or a piece of unflavored dental floss. Place the rolls in a lightly greased 9x13-inch baking pan.

Second Rise: Cover the pan with a towel and let the rolls rise for a second time in a warm place for about 20 minutes, or until they have puffed up.

Bake the Rolls: Preheat your oven to 375°F (190°C). Bake the blueberry cinnamon rolls for 20-25 minutes, or until they are golden brown on top and the filling is bubbly.

Make the Icing: While the rolls bake, prepare the icing. In a bowl, beat the softened cream cheese and butter until smooth. Add the powdered sugar, vanilla, and milk, and beat until the icing is smooth and creamy.

Serve: Remove the rolls from the oven and spread the icing over them while they are still warm. Serve immediately and enjoy!