Creating Small Batch Pistachio Cream Cinnamon Rolls can be straightforward if you follow these simple steps:

1. Prepare the Dough: In a mixing bowl, combine the flour, sugar, instant yeast, and salt. Mix well.
2. Add Wet Ingredients: Stir in the warmed milk, melted butter, egg, and vanilla extract. Mix until a dough forms.
3. Knead the Dough: Transfer the dough to a floured surface and knead for about 5 minutes until smooth.
4. Let it Rise: Place the dough in a lightly greased bowl, cover it with a clean kitchen towel, and let it rise for about 30 minutes in a warm spot.
5. Prepare the Filling: In a small bowl, mix the ground pistachios, softened butter, brown sugar, and cinnamon until well combined.
6. Roll Out the Dough: Once risen, roll the dough out into a rectangle about ¼ inch thick on a floured surface.
7. Spread the Filling: Evenly spread the pistachio cream filling over the rolled-out dough.
8. Roll the Dough: Starting from one long edge, carefully roll the dough into a log shape.
9. Slice the Rolls: Cut the log into 6 equal pieces and place them in a greased baking dish.
10. Second Rise: Cover the dish with a towel and let the rolls rise for another 15-20 minutes.
11. Preheat Oven: While the rolls are rising, preheat your oven to 350°F (175°C).
12. Bake: Bake the rolls for 20-25 minutes or until lightly golden on top.
13. Prepare the Glaze: In a small bowl, whisk together powdered sugar, milk, and vanilla extract until smooth.
14. Glaze the Rolls: Once baked, let the rolls cool for a few minutes, then drizzle with the glaze.