Follow these simple steps to create delicious Oreo Stuffed Cinnamon Rolls:

1. Prepare the Dough: In a small bowl, dissolve the yeast in warm milk. Let it sit for about 5 minutes until frothy.
2. Mix Ingredients: In a large mixing bowl, combine the melted butter, sugar, egg, and salt. Add the yeast mixture and mix well.
3. Add Flour: Gradually add the flour, one cup at a time, mixing until a soft dough forms.
4. Knead the Dough: On a floured surface, knead the dough for about 5-7 minutes until smooth and elastic.
5. First Rise: Place the dough in a greased bowl, cover with a clean cloth, and let it rise in a warm place for about 1 hour, or until doubled in size.
6. Prepare the Filling: In a medium bowl, combine crushed Oreos and softened cream cheese, mixing until well combined.
7. Roll Out the Dough: Once risen, punch down the dough and roll it out on a floured surface into a large rectangle.
8. Spread Filling: Spread the Oreo filling evenly over the dough, leaving a small border around the edges.
9. Roll the Dough: Starting from one end, roll the dough tightly into a log shape. Pinch the seams to seal.
10. Cut Rolls: Slice the rolled dough into 12 equal pieces and place them in a greased baking dish, cut side up.
11. Second Rise: Cover the rolls with a cloth and let them rise for another 30 minutes.
12. Preheat Oven: Preheat your oven to 350°F (175°C).
13. Bake: Bake the rolls for 25-30 minutes, or until golden brown.
14. Prepare the Glaze: While the rolls are baking, whisk together powdered sugar, vanilla extract, and milk until smooth.
15. Cool: Once baked, remove from the oven and let cool for about 10 minutes before drizzling with glaze.