Activate the Yeast - Warm milk to about 110°F, add yeast and a teaspoon of sugar, then let it sit for 5–10 minutes until foamy.
Make the Dough - In a large bowl, combine melted butter, remaining sugar, eggs, and salt. Stir in yeast mixture and gradually add flour. Knead until soft and elastic (about 5–7 minutes).
Let It Rise - Place dough in a greased bowl, cover, and let rise for about 1 hour or until doubled.
Prepare the Filling - Mix brown sugar and cinnamon together in a small bowl. Spread softened butter over rolled-out dough (16x12 inches), then sprinkle evenly with cinnamon sugar.
Roll and Slice - Roll up tightly from the long side, then slice into 12 even rolls using floss or a sharp knife. Place in a greased 9x13 pan.
Second Rise - Cover and let rise for another 30 minutes until puffy.
Bake at 350°F (175°C) for 20–25 minutes, until golden brown and fragrant.
Make the Frosting - Beat together cream cheese, butter, powdered sugar, vanilla, and milk until smooth.
Frost & Serve - Spread frosting generously over warm rolls and enjoy!
Notes
Use bread flour instead of all-purpose for even softer rolls. Double the frosting if you love it extra creamy (no judgment!).