In a small bowl, dissolve yeast in warm milk. Let stand for 5-10 minutes until foamy.
In a large mixing bowl, combine flour, granulated sugar, and salt. Whisk to combine.
Add the softened butter, eggs, and yeast mixture to the dry ingredients. Mix until a shaggy dough forms.
Turn dough out onto a lightly floured surface and knead for 8-10 minutes until smooth and elastic. Place dough in a greased bowl, cover, and let rise in a warm place for 1-1.5 hours, or until doubled in size.
While the dough is rising, prepare the filling. In a medium bowl, mix together brown sugar and cinnamon.
Once the dough has risen, punch it down and turn it out onto a lightly floured surface. Roll the dough into a large rectangle, approximately 18×12 inches.
Spread the melted butter evenly over the dough, leaving a small border on one long edge.
Sprinkle the cinnamon-sugar mixture evenly over the buttered dough.
Tightly roll up the dough starting from the long edge opposite the one with the butter border. Pinch the seam to seal.
Cut the log into 6-8 equal jumbo slices. You can use a sharp knife or dental floss for clean cuts.
Place the cinnamon roll slices in a greased 9×13 inch baking pan, cut side up. Cover loosely and let rise for another 30-45 minutes.
Preheat oven to 375°F (190°C).
Bake for 25-30 minutes, or until golden brown and cooked through.
While the rolls are baking, prepare the frosting. In a medium bowl, beat together cream cheese and softened butter until smooth. Gradually beat in powdered sugar until combined. Stir in vanilla extract. Add milk 1 tablespoon at a time until desired consistency is reached.
Once the cinnamon rolls are out of the oven, let them cool slightly in the pan before spreading the cream cheese frosting generously over the warm rolls.