Combine milk and sugar in a bowl, and put in microwave until the temp is reached (it’s supposed to be lukewarm - 114 degrees).
Sprinkle yeast over the surface, and let it sit for 5-10 minutes until foamy.
(Tiny bubbles should begin to appear on the surface or around the edge of the container and it should start to smell yeasty).
Add the yeast mixture to the bowl of your stand mixer with the dough hook attached.
Add the flour, salt, eggs and butter and knead the dough for 8-10 minutes. It should form a ball and be relatively smooth.
First Rise
Place dough in a greased bowl and cover with a kitchen towel.
Let sit in a warm place, until doubled in size (about an hour).
Punch down, and turn out onto a lightly floured surface, cover and let rest for 10 minutes while you make the filling
Make the filling
In a small bowl, combine brown sugar and cinnamon.
Assemble
Roll dough into a 16×21-inch rectangle.
Spread dough with butter and sprinkle evenly with sugar/cinnamon mixture.
Roll up dough and cut into 12 rolls. I use (plain, unflavored) dental floss to do this.
Place a piece of dental floss under the rolled dough, 1 inch from the end. Bring the floss up around the dough and cross it over the top, cutting through the dough and filling. Repeat at 1-inch intervals.
Place rolls in a lightly greased 9×13 inch baking pan.
Second Rise
Cover and let rise until nearly doubled, about 30 minutes. While the rolls are rising, preheat oven to 400 degrees F.
Bake
Bake rolls in the preheated oven until golden brown, about 15 minutes.
Frost
While rolls are baking, beat together cream cheese, butter, powdered sugar, vanilla, salt and milk.