Warm the milk until lukewarm. For active dry yeast, stir the yeast and a small amount of the sugar into the milk and let it stand for about 5 minutes, until foamy; instant yeast may be mixed directly with the dry ingredients.

Mix in the remaining sugar, eggs, vanilla, flour, and salt. Knead until a soft, elastic dough forms, adding only a little extra flour if truly needed.

Add the softened dough butter gradually, kneading after each addition until it is fully incorporated. The finished dough should be smooth, supple, and slightly tacky rather than stiff.

Place the dough in a lightly greased bowl, cover it, and let it rise in a warm place for 1 to 1 1/2 hours, or until doubled in size.

Roll the risen dough into an approximately 16-by-12-inch rectangle. Spread it evenly with the very soft filling butter.

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

Cut the log into 12 equal pieces using unflavored dental floss or a very sharp serrated knife. Place the pieces in a buttered 9-by-13-inch baking pan.

Cover the pan and let the rolls rise for 30 to 45 minutes, until visibly puffy. This second rise helps prevent heavy, tight centers.

Bake at 350°F (175°C) for 23 to 30 minutes, until golden brown and cooked through. The center rolls should reach approximately 190°F (88°C).

Beat the cream cheese, butter, confectioners’ sugar, vanilla, and 1 to 2 tablespoons of milk or cream until smooth. Spread the frosting over the rolls while they are warm but not piping hot.