In a large bowl, whisk together the warm milk, instant yeast, and granulated sugar. Let it sit for about 5 minutes until foamy.

Add the eggs and melted butter to the mixture and stir to combine.

Mix in the all-purpose flour and salt. Begin mixing with a spoon, then knead by hand until the dough becomes smooth, stretchy, and slightly tacky.

Place the dough in a lightly oiled bowl, cover with a towel, and let it rise in a warm place for 1 to 1.5 hours or until doubled in size.

While the dough is rising, prepare the filling by mixing together the softened butter, brown sugar, and ground cinnamon in a bowl.

Once the dough has risen, punch it down gently. Roll it out on a floured surface into a 16 x 12 inch rectangle.

Spread the cinnamon sugar filling evenly over the dough.

Roll the dough tightly from the long edge into a log. Slice the log into 12 even rolls using a serrated knife or unflavored dental floss.

Place the rolls in a buttered 9 x 13 inch pan. Cover and let rise again for 30 to 45 minutes or until puffy.

Preheat the oven to 350°F (175°C).

Bake the rolls for 23 to 26 minutes until lightly golden on top.

While the rolls are baking, make the frosting by beating the cream cheese and butter until smooth. Add the powdered sugar and vanilla, then add milk 1 tablespoon at a time until the desired consistency is reached.

When the rolls are out of the oven and still warm, spread the cream cheese frosting over the top and serve.