For the Dough:
1. In a large bowl, whisk together the lukewarm milk, melted butter, granulated sugar, vanilla extract, and salt.
2. Sprinkle the active dry yeast over the mixture and let it sit for 5-10 minutes, until foamy.
3. Gradually add the flour, mixing until a shaggy dough forms.
4. Turn the dough out onto a lightly floured surface and knead for 5-7 minutes, until smooth and elastic.
5. Place the dough in a lightly oiled bowl, cover with plastic wrap, and refrigerate overnight (at least 8 hours, or up to 24 hours).

For the Filling:
1. In a medium bowl, combine the softened butter, light brown sugar, and cinnamon. Mix until well combined and spreadable.

To Assemble:
1. Remove the dough from the refrigerator. It will be cold and firm.
2. On a lightly floured surface, roll out the dough into a large rectangle, approximately 12×18 inches.
3. Spread the cinnamon filling evenly over the dough, leaving a 1/2 inch border along one of the long edges.
4. Tightly roll up the dough starting from the long edge opposite the border.
5. Pinch the seam to seal.
6. Cut the roll into 12 equal slices.
7. Place the slices into a greased 9×13 inch baking dish, cut-side up.
8. Cover the dish loosely with plastic wrap and let the rolls rest at room temperature for 30-60 minutes, or until slightly puffy.
9. Preheat your oven to 350°F (175°C).
10. Bake for 20-25 minutes, or until golden brown and cooked through.

For the Frosting:
1. While the rolls are baking or cooling, beat together the softened cream cheese and butter in a medium bowl until smooth and creamy.
2. Beat in the vanilla extract.
3. Gradually add the sifted powdered sugar, alternating with 2 tablespoons of milk, beating until smooth and spreadable. Add more milk if needed to reach desired consistency.
4. Once the cinnamon rolls are slightly cooled, spread the frosting evenly over the warm rolls.