In a small saucepan over medium-low heat, warm the milk just until small bubbles begin to form around the edge of the pan; remove from heat. Add in the butter and stir until it’s completely melted; let mixture cool while you mix your dry ingredients.
In the bowl of a stand mixer fitted with the dough hook attachment, combine 2 and 1/2 cups of flour, yeast, sugar and salt; mix on medium-low speed until ingredients are evenly combined. Add in the egg, then add in the warm milk mixture and beat until combined.
Add the remaining flour, a little bit at a time, mixing well after each addition.
Once all of the flour has been added, increase the speed to medium and beat for 5 minutes. The dough should form a ball around the hook and pull away from the edges of the bowl.
Transfer the dough to a lightly floured surface and knead it with your hands for 1 minute. Form the dough into a ball and transfer it to the prepared bowl.
Cover the bowl with plastic wrap and let sit in a warm place until doubled in size, about 1 hour.
Generously grease the sides and bottom of a 9x13-inch baking pan and set it aside.
Gently punch down the risen dough, then turn it out onto a lightly floured work surface and, using a rolling pin, roll it into a 12x18-inch rectangle. Be sure the dough is evenly thick before adding the filling.
For the Filling:
In a medium mixing bowl, combine the melted butter, both sugars, cinnamon, and cloves; mix well until it’s a uniform paste. Using a small spatula or the back of a spoon, spread the sugar/butter combination all over the dough.
Tightly roll up the dough to form an 18-inch log. Using a piece of unwaxed/unflavored dental floss, slice the log into 12 even rolls. To do this, simply slide a 12-inch piece of floss under the roll where you want it cut, grab both ends of the floss (one in each hand), cross it over the top of the roll, and pull it until the slice you want is cut. Repeat for all slices.
Arrange the rolls in the prepared baking pan, cut sides up. Cover the pan tightly with plastic wrap and place it in the refrigerator for 8 to 12 hours.
When ready to bake, remove the pan from the refrigerator and let the rolls rise in a warm place until they’ve puffed up and almost doubled in size, about 2 hours.
Once the rolls have risen, preheat the oven to 375°F (191°C). Bake for 23 to 25 minutes, or until golden brown.
Remove pan from the oven and cool the rolls on a wire rack while you make the glaze.
For the Glaze:
In a large spouted measuring cup, combine all of the ingredients and mix until well combined. If the glaze appears too thick, add a little more cream; if the glaze appears too thin, add a little more confectioner's sugar.
Drizzle the icing over the warm rolls and serve at once, or set aside and allow the icing to set before serving.
Wrap any leftover rolls tightly in plastic wrap and store at room temperature for up to 2 days.