Prepare the Dough:

• Warm the milk in the microwave or on the stove until it’s about 110°F (43°C). Pour the warm milk into a large mixing bowl and sprinkle the yeast on top. Let it sit for about 5 minutes until it becomes frothy.
• Add the granulated sugar, melted butter, eggs, and salt to the yeast mixture. Mix until combined.
• Gradually add the flour, one cup at a time, mixing until a soft dough forms. The dough should be slightly sticky but manageable.

Knead the Dough:

• Turn the dough out onto a lightly floured surface and knead for about 5-7 minutes, or until the dough is smooth and elastic. If you have a stand mixer with a dough hook, you can knead the dough on medium speed for about 5 minutes.

First Rise:

• Place the dough in a lightly greased bowl, cover it with a clean kitchen towel or plastic wrap, and let it rise in a warm place for about 1-2 hours, or until it has doubled in size.

Prepare the Filling:

• In a small bowl, mix together the brown sugar and ground cinnamon. Set aside.
• Once the dough has risen, punch it down to release the air. Turn it out onto a lightly floured surface and roll it into a large rectangle, about 18×12 inches.

Spread the Filling:

• Spread the softened butter evenly over the rolled-out dough. Sprinkle the cinnamon-sugar mixture evenly over the butter, pressing it down gently to adhere.

Roll and Cut:

• Starting from the long edge, tightly roll the dough into a log. Cut the log into 15 equal pieces using a sharp knife or dental floss.

Second Rise:

• Place the rolls in a greased 9×13 inch baking dish. Cover with a clean kitchen towel or plastic wrap and let them rise for another 30-45 minutes, or until they have doubled in size.

Preheat the Oven:

• Preheat your oven to 350°F (175°C).

Bake:

• Bake the rolls in the preheated oven for 20-25 minutes, or until they are golden brown and cooked through. If the tops are browning too quickly, cover them loosely with aluminum foil for the last 10 minutes of baking.

Prepare the Icing:

• While the rolls are baking, prepare the cream cheese icing. In a medium bowl, beat the softened cream cheese and butter together until smooth. Gradually add the powdered sugar, vanilla extract, and enough milk to achieve your desired consistency. Mix until smooth and creamy.

Ice the Rolls:

• Once the rolls are done baking, let them cool for about 10 minutes before spreading the cream cheese icing over the top. Serve warm and enjoy!