Mix warm milk and yeast together.
Let it sit for 5 minutes.
Add flour, sugar, salt, butter, and eggs.
Mix until smooth dough forms.
Knead gently for 2 minutes.
Cover the bowl with a towel.
Place in a warm spot.
Wait 1 hour until doubled in size.
This step makes rolls fluffy.
Roll dough into a rectangle shape.
Spread softened butter all over it.
Sprinkle brown sugar and cinnamon evenly.
Roll tightly from the long side.
Slice into 12 equal pieces.
Place in greased baking pan.
Leave space between each roll.
Cover and let rise 30 minutes.
Bake at 350°F for 25 minutes.
Rolls should be golden brown.
Let them cool for 10 minutes.
Beat cream cheese until smooth and fluffy.
Add powdered sugar, milk, and vanilla.
Spread generously over warm rolls.