1. Make the Dough:
In a large bowl, combine warm milk and yeast. Let sit for 5–10 minutes until frothy.
Add sugar, melted butter, salt, eggs, and 2 cups of flour. Mix until combined.
Gradually add the remaining flour and knead for 8–10 minutes (by hand or with a stand mixer) until the dough is smooth and elastic.
Transfer to a lightly oiled bowl, cover with a damp towel, and let rise in a warm place for 1–1.5 hours or until doubled in size.
2. Make the Filling:
In a small bowl, mix the softened butter, brown sugar, and cinnamon into a spreadable paste.
3. Assemble the Rolls:
Punch down the risen dough and roll it out on a floured surface into a 12×18-inch rectangle.
Spread the cinnamon-sugar filling evenly over the dough.
Roll the dough tightly from the long edge to form a log. Pinch the seam to seal.
Cut the log into 12 even slices using a sharp knife or dental floss.
4. Proof and Bake:
Arrange the rolls in a greased 9×13-inch baking dish. Cover and let rise for 30–45 minutes until puffy.
Preheat the oven to 350°F (175°C).
Bake for 20–25 minutes, or until golden brown. Avoid overbaking to keep the rolls soft.
5. Make the Glaze:
Beat the cream cheese and butter until smooth. Add powdered sugar, vanilla extract, and milk, mixing until creamy.
6. Finish and Serve:
Spread the glaze over the warm rolls so it melts into the crevices.
Serve immediately and enjoy warm!
