Begin by warming your milk in the microwave for 1 minute. In a large bowl dissolve the yeast in the warmed milk.

Add sugar, butter, eggs, salt and flour and mix well. Dust your hands lightly with flour and knead dough into a large ball. Place the ball into a large bowl sprayed with cooking spray (I use Pam) and cover tightly with plastic wrap.

Place the bowl in a warm place, or on top of your stove with the oven set to 250°. Let the dough rise until it has nearly doubled in size, roughly 1 hour.

Combine brown sugar and cinnamon in a small bowl.

Sprinkle flour onto your work surface. Roll dough into an approximately 16×20 inch rectangle. You want your dough to be roughly 1/4 inch thick.

Brush the dough with melted butter. Evenly sprinkle brown sugar/ cinnamon mixture over the dough.

Using the long edge of the dough closest to you, roll away from yourself to form a log.

Slice the log into 12 evenly sized rolls. Place the rolls into 2 lightly greased (I spray mine with Pam) 9×13 inch glass baking dishes. Cover with a dishcloth and allow the rolls to rise until nearly doubled. This takes 30 minutes to 1 hour.

*At this point in the process you can leave the covered rolls on your counter and allow them to rise overnight.*

Preheat your oven to 350°. Bake the rolls for about 20 minutes, until golden brown.

While the rolls are baking, make the icing by beating together the cream cheese, powdered sugar, salt and vanilla extract.

When the rolls are warm out of the oven, spread half of the icing over them.

Let the rolls sit for a few minutes. Then spread the other half of the icing on them.