01 - Combine warm milk and active dry yeast in a large bowl. Let rest for 5 minutes until foamy.
02 - Add granulated sugar, melted butter, eggs, and salt to the yeast mixture; stir thoroughly.
03 - Gradually incorporate flour until a soft dough forms.
04 - Knead on a floured surface for 5 to 7 minutes until smooth and elastic.
05 - Place dough in a greased bowl, cover, and let rise in a warm environment for 1 hour or until doubled in size.
06 - Punch down dough and roll out to a 16x12 inch rectangle.
07 - Spread softened butter over dough, then evenly sprinkle brown sugar and cinnamon.
08 - Roll dough tightly from the long side and seal seam. Cut into 12 equal slices.
09 - Place slices in a greased 9x13 inch baking dish, cover, and let rise for 30 to 45 minutes until puffy.
10 - Set oven temperature to 350°F.
11 - Bake for 22 to 25 minutes until golden brown.
12 - Beat cream cheese and softened butter until smooth. Mix in powdered sugar and vanilla extract. Add milk to achieve desired pouring consistency.
13 - Spread glaze over warm rolls before serving.