In a large bowl, combine 2 cups of the flour, granulated sugar, yeast, and salt. In a separate bowl, whisk together warm milk, melted butter, and eggs.
Gradually add the wet ingredients to the dry ingredients, mixing until just combined. Add the remaining 2 cups of flour and mix until a soft dough forms. Knead the dough on a lightly floured surface for 5-7 minutes until smooth and elastic.
Place the dough in a greased bowl, cover, and let it rise in a warm place for 1-2 hours, or until doubled in size.
While the dough rises, prepare the filling by mixing the softened butter, brown sugar, and cinnamon in a small bowl until well combined.
Once the dough has risen, punch it down and roll it out on a lightly floured surface into a large rectangle, about 12×18 inches.
Spread the cinnamon-sugar filling evenly over the dough, leaving a small border along one edge.
Starting from the long side, tightly roll up the dough. Pinch the seam to seal.
Cut the roll into 12 equal slices.
Place the cinnamon rolls in a greased 9×13 inch baking dish, leaving some space between them.
Cover the dish and let the rolls 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 glaze. In a medium bowl, beat together the softened cream cheese and softened butter until smooth. Gradually beat in the powdered sugar until combined. Add vanilla extract and 2 tablespoons of milk, beating until smooth and creamy. Add more milk, one tablespoon at a time, if needed to reach desired consistency.
Once the cinnamon rolls are out of the oven, let them cool slightly before spreading the glaze generously over the warm rolls.