Read through the entire recipe before starting and get all ingredients ready. Then read through step-by-step. See notes below about preparing for overnight
In a microwave safe bowl or glass measuring cup, heat milk for about 20-30 seconds. Allow temperature of mixture to reach 110ºF (or lukewarm). If it's too hot it will kill the yeast.
Add yeast and sugar into large mixing bowl of stand mixer and gently add milk. Stir until combined and allow to sit for 10 minutes, until top is foamy.
Add melted butter, egg and molasses stirring gently or using paddle attachment on low speed until combined.
Start to add flour and salt, about ½ cup at a time. You will likely need about 3.25 cups. Dough should be elastic and start to pull away from edge of bowl when it is ready. At this time, change the attachment to the dough hook, and allow the hook to knead the dough for about 3-4 minutes. Dough should remain soft but not overly sticky – you may need to add another ¼ cup flour here.
Oil large bowl and shape dough into ball, place dough in bowl and cover with towel and let rise in warm environment until dough has doubled in size, about 45 minutes. TIP: set oven to warm or preheated to 200F then turn off. Place bowl in the warmed oven and allow to rise.
Grease a 9" pie dish or square baking pan with butter or coconut oil, set aside.
Once the dough has doubled in size, lightly cover rolling pin and flat surface with flour. Roll out dough into a 15x9 inch rectangle. Be patient, and roll gently. If you're new to this it could take some practice! Don't use too much flour or your dough will be stiff.
Using spatula, spread softened butter on dough, sprinkle on sugar, cinnamon, ginger, nutmeg and cloves. Roll up dough into a log shape then place the dough seam side down. Use a large sharp knife and gently cut into 9 rolls, or use floss to lift up from under the dough. Transfer rolls to prepared dish and allow to rise in a warm, draft-free environment. Again, you can use the warm oven tip above.
Once the rolls have risen again slightly, take rolls out and preheat oven to 350F. Bake cinnamon rolls for 20 minutes, until lightly browned. Then, if necessary, cover top of rolls with foil and bake for an additional 5 minutes. Covering the rolls for the last 5-10 minutes will prevent them from getting too brown on the top.
Make the cream cheese frosting: In medium bowl using electric hand mixer (or stand mixer with paddle attachment) beat softened cream cheese until light and fluffy then add yogurt. Add in extract and powdered sugar; mix on low speed until combined. Spread on slightly cooled gingerbread cinnamon rolls. Best served immediately while warm. Enjoy!