In the bowl of a stand mixer, whisk together the milk, sugar and yeast, and let it sit for 5-10 minutes or until the yeast is foamy.
¾ cup milk, 3 tablespoons granulated sugar, 1 packet active dry yeast
Whisk in the egg, melted butter, and salt. Then add 2 ¾ cup of flour and use the dough hook attachment to mix until a dough forms. Add additional flour until the dough is soft but not too sticky.
1 large egg, 3 tablespoons melted butter, ½ teaspoon salt, 2 ¾ - 3 ¼ cups all purpose or bread flour
Cover and allow to rise until doubled in size, about an hour.
Grease a 9x9 baking pan with butter, preheat the oven to 350 F.
On a lightly floured surface, roll the dough into a 10x14” rectangle. Spread the peanut butter evenly over the dough, followed by the jelly.
¾ cup smooth peanut butter, ½ cup jelly
Roll the dough up along the longer edge into a tight spiral, then slice into nine 1 ½” slices.
Place the rolls cut side up into the prepared baking dish, cover and allow to rise for 30-45 minutes.
Bake in the preheated oven 20-25 minutes, or until golden and puffed.
Allow to cool completely.
Whisk together the powdered sugar, 1 tablespoon of cream, and vanilla extract until smooth. Add additional milk a little at a time until desired consistency is reached.
1 cup powdered sugar, 1-2 tablespoons cream, 1 teaspoon pure vanilla extract
Spread the frosting over the cooled rolls and serve.