Combine the milk, water, sugar, butter, and yeast in the bowl of a stand mixer fitted with a dough hook attachment. Allow to sit for 5 minutes, or until foamy.
With the mixer on medium speed, gradually add the flour mixture. Then add the egg, and continue mixing until a ball of dough forms.
Continue kneading for 5 minutes. The dough will be smooth and elastic. Cover with a towel and let rest in a warm spot for 1 hour or until doubled in size.
To make the coating, assemble, and bake:
Grease a 10-cup Bundt pan.
Combine the sugar, brown sugar, and cinnamon. Place the melted butter in a shallow bowl. Set aside.
Divide the dough into 36 equal portions. Gently roll each portion into a ball.
Dip each dough ball in the melted butter, and then roll in the cinnamon-sugar mixture until thoroughly coated. Arrange the dough in the prepared pan.
Once all the dough is coated and in the pan, combine the remaining butter and cinnamon-sugar. Pour over the bread in the pan.
Cover with a towel, and allow to rise in a warm spot until it has doubled in size. This should take about an hour.
Preheat oven to 375°F (190°C).
Bake for 25 minutes, or until browned and thoroughly baked.** Then set the pan on a wire rack to begin cooling. After about 10 minutes, invert the pan onto a large plate to remove the bread from the pan.
To make the cream cheese icing:
Using an electric mixer on medium speed, beat the cream cheese and confectioners' sugar until thoroughly mixed.
Add the milk and vanilla, and mix until smooth.
Drizzle the icing over the warm bread.
Video
Notes
*You can use active dry yeast, rapid yeast, or instant yeast. If using rapid or instant, you can mix it with the flour instead if you want to skip the proofing step.
**The bread is done when the internal temperature reaches 200°F (95°C).
Store tightly covered in the refrigerator up to 3 days. Reheat for serving.