Warm the milk to approximately 105–110°F (40–43°C). Stir in the yeast and a small amount of the sugar, then let the mixture stand for 5–10 minutes until foamy.

Mix in the remaining sugar, melted butter, eggs, and salt. Gradually add the flour until a soft dough forms.

Knead the dough by hand for 5–8 minutes or with a dough hook for 4–6 minutes. Stop when it is smooth, elastic, soft, and slightly tacky rather than wet.

Place the dough in a lightly greased bowl, cover it, and let it rise in a warm, draft-free place for 60–90 minutes. It should double in size.

Roll the risen dough into an approximately 16 x 24-inch rectangle. Spread the very soft butter over the surface, leaving a small border.

Combine the brown sugar and cinnamon, then distribute the mixture evenly over the butter. Roll the dough tightly from the long side into a log.

Cut the log into 12 evenly sized pieces using dental floss or a serrated knife. Arrange the pieces in a greased 9 x 13-inch baking pan.

Cover the pan and let the rolls rise for 30–45 minutes, until puffy. Meanwhile, heat the oven to 350°F (175°C).

Bake the rolls for 20–25 minutes, until the tops are lightly golden and the centers are cooked but still soft. Avoid baking them too long, since the dough will continue setting as it cools.

Beat the cream cheese and softened butter until smooth. Add the powdered sugar and vanilla, beating until creamy, and add 1–2 tablespoons of milk if a thinner frosting is desired.

Cool the rolls for 5–10 minutes, then spread them with the frosting while they are still warm. Serve immediately for the softest texture and the most fragrant cinnamon flavor.