1️⃣ In a large bowl, whisk warm milk and yeast. Let sit for 5 minutes until foamy.
2️⃣ Add sugar, melted butter, eggs, and salt. Mix well. Gradually stir in flour until a soft dough forms.
3️⃣ Knead dough on a floured surface for 5–7 minutes (or use a mixer with dough hook) until smooth and elastic.
4️⃣ Place in a greased bowl, cover, and let rise in a warm spot for about 1 hour, or until doubled in size.
5️⃣ Punch down dough and roll out into a 16×12 inch rectangle. Spread softened butter all over.
6️⃣ Sprinkle evenly with brown sugar and cinnamon. Roll up tightly from the long side and cut into 12 rolls.
7️⃣ Place rolls in a greased 9×13 pan. Cover and let rise another 30–40 minutes.
8️⃣ Bake at 350°F for 25–30 minutes, until golden brown.
9️⃣ While rolls bake, beat cream cheese and butter together until smooth. Add powdered sugar, vanilla, and milk, and mix to a thick, pourable glaze.
🔟 Drizzle glaze over warm rolls and serve!