1. Warm the milk until just lukewarm, then add the yeast and a pinch of sugar. Let it sit for 5–10 minutes until foamy.

2. In a large bowl, combine flour, sugar, salt, melted butter, eggs, and the yeast mixture. Knead until the dough becomes soft and elastic, about 10 minutes by hand or 6 minutes in a mixer.

3. Cover the dough and let rise until doubled in size, about 1 hour.

4. In a separate bowl, mix brown sugar, cinnamon, and softened butter to create the filling.

5. Roll out the dough into a large rectangle about 1/4 inch thick. Spread the filling evenly over the dough.

6. Roll the dough tightly into a log and cut into 12 even rolls using a sharp knife or unflavored floss.

7. Arrange the rolls in a greased baking dish. Cover and let rise again for 30 to 40 minutes.

8. Bake at 350°F for 25 to 30 minutes, or until golden brown and fully cooked.

9. While rolls cool slightly, beat cream cheese, butter, powdered sugar, and vanilla until smooth.

10. Spread the icing over warm rolls and serve immediately.