In a small microwave-safe bowl, heat the milk for 40-45 seconds until it reaches about 105-115°F. It should feel like warm bath water (warm, but not HOT). Sprinkle the yeast evenly over the top.

In the bowl of a stand mixer fitted with the dough hook, add the milk mixture, granulated sugar, eggs, melted butter, and almond extract. Mix on low speed until fully combined.

Increase to medium speed and knead the dough for 7-10 minutes, until it becomes smooth and slightly tacky and begins to pull away from the sides of the bowl. If the dough is still very sticky after kneading, add flour 1 tablespoon at a time until it comes together.

Transfer the dough to a lightly greased bowl. Cover with a towel or plastic wrap and let it rise in a warm place for 1-1½ hours, or until doubled in size and puffy.

In a medium bowl, beat the softened butter, brown sugar, and cinnamon together until smooth and spreadable.

Lightly flour your work surface and rolling pin. Roll the dough into a 14x9-inch rectangle about ¼-inch thick, keeping the edges as straight as possible. Spread the filling evenly over the dough, then sprinkle the ground or finely chopped pistachios on top.

Using a pizza cutter or sharp knife, cut the dough into 12 even strips (about 1½ inches wide). Roll each strip up tightly into a spiral and place them in a greased 9x13-inch baking dish.

Cover the rolls and let them rise for 30-45 minutes, or until noticeably puffy. Meanwhile, preheat the oven to 350°F.

Just before baking, drizzle the tops with Irish cream. Bake for 30-35 minutes, or until the rolls are golden brown. Let cool in the pan for about 10 minutes before frosting.

In a large bowl, beat the cream cheese and butter together until smooth and fluffy. Add the powdered sugar, pistachio cream, and Irish cream, and mix on low speed until fully combined and creamy.

Spread the frosting over the warm rolls and finish with a sprinkle of crushed pistachios. Serve warm.