1. In a large bowl, combine warm milk, yeast, and granulated sugar. Let stand for 5-10 minutes until foamy.
2. Whisk in the eggs and melted butter until well combined.
3. Gradually add the flour and salt, mixing until a shaggy dough forms.
4. Turn the dough out onto a lightly floured surface and knead for 8-10 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise in a warm place for 1-1.5 hours, or until doubled in size.
5. While the dough rises, prepare the filling: In a small bowl, mix together brown sugar and cinnamon.
6. Once dough has risen, punch it down and turn it out onto a lightly floured surface. Roll into a 12×16 inch rectangle.
7. Spread the softened butter evenly over the dough, leaving a small border along one long edge.
8. Sprinkle the cinnamon-sugar mixture evenly over the buttered dough.
9. Tightly roll up the dough starting from the long edge opposite the border.
10. Pinch the seam to seal and cut the roll into 12 equal slices.
11. Place the rolls cut-side up in a greased 9×13 inch baking dish. Cover and let rise for another 30-45 minutes.
12. Preheat oven to 375°F (190°C).
13. Bake for 25-30 minutes, or until golden brown.
14. While rolls bake, prepare the glaze: In a medium bowl, beat together softened cream cheese and butter until smooth.
15. Add powdered sugar and vanilla extract, beating until well combined.
16. Gradually add milk, one tablespoon at a time, until the glaze reaches desired consistency.
17. Once rolls are out of the oven, let them cool slightly before spreading the glaze over the warm rolls.