In a bowl, mix the yeast with the warm milk. Add the egg, melted butter, flour, salt, sugar, and vanilla bean paste and mix until combined. Let stand for 5 minutes.

Beat the mixture on medium speed with a stand mixer for about 5 minutes until a soft dough forms. Increase speed and beat for an additional 6 minutes until the dough is soft and supple.

Transfer the dough to a floured surface and knead for 1 minute. Form into a ball and place in a greased bowl. Cover and let rise until doubled, about 30 to 45 minutes.

For the filling, combine the softened butter, dark brown sugar, cinnamon, ginger, cardamom, allspice, and pepper in a bowl until a thick paste forms.

Grease the bottom and sides of a muffin pan. Punch down the risen dough and roll out to a 14×6 inch rectangle. Spread the chai spiced filling over the dough.

Roll the dough tightly from the shorter end to form a log and cut into 6 rolls. Arrange in the muffin cups and cover. Let rise for 20 minutes or until nearly doubled.

Preheat oven to 375°F (190°C). Bake the rolls for 15-17 minutes until lightly golden brown and cooked through. Remove and cool on a wire rack for about 10 minutes.

For the icing, beat the cream cheese and butter in a bowl. Add powdered sugar, milk, bourbon, and vanilla bean paste and whisk until smooth. Adjust consistency if needed.

Drizzle icing over warm rolls. Store leftover rolls at room temperature for up to 3 days.