1 cup warm (not hot) milk
1 tablespoon instant yeast
2 tablespoons sugar
1 teaspoon salt
3 tablespoons butter, soft
2 small eggs
3 cups flour
¼ cup butter, melted
1 cup brown sugar
2 tablespoons cinnamon
4 to 8 ounces cream cheese, softened
¼ cup butter
1½ cups powder sugar
½ teaspoon vanilla
2 tablespoons milk
Using a dough hook in a stand mixer, combine the warm milk, yeast, sugar, salt, butter, and egg on low.
Slowly add in flour.
Once the flour is incorporated, turn mixer to medium speed.
Add more flour if necessary. The dough should be soft and sticky but pull away from the side of bowl.
Transfer dough to a large lightly greased mixing bowl, cover, and let rise for 1 hour.
Grease a 9×13 baking pan.
Roll dough out to a 12×18 inch rectangle.
Brush the dough with the ¼ cup melted butter from the filling.
In a small bowl, combine the brown sugar and cinnamon.
Sprinkle mixture over buttered dough.
Roll up tightly lengthwise to make one long roll.
Use thread to cut dough into 12 (one inch) slices.
Place slices into greased pan.
Cover and let rise for about 45 minutes.
Preheat oven to 325 degrees.
Bake rolls for 20-30 minutes or till brown. (Time will depend on how hot and even your oven bakes.)
After pulling rolls out of the oven, beat together glaze ingredients. Add additional milk for desired consistency.
Frost the rolls while still warm and serve.
Store leftovers in an airtight container for up to 4 days.