Soft and fluffy cinnamon rolls filled with a sweet cinnamon-sugar mixture and topped with creamy icing, perfect for breakfast or brunch.

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In a large bowl, combine warm milk and yeast. Let sit for 5-10 minutes until foamy.
Add sugar, melted butter, salt, and eggs. Mix well, then gradually add flour. Knead until a smooth dough forms.
Cover and let rise in a warm place for about 1 hour or until doubled in size.
Roll out dough into a rectangle (about 16×12 inches). Spread softened butter over the dough.
Mix brown sugar and cinnamon, then sprinkle evenly over the buttered dough.
Roll up the dough tightly from the long side and cut into 12 rolls.
Place rolls in a greased baking dish. Cover and let rise for another 30 minutes.
Preheat oven to 350°F (175°C). Bake rolls for 20-25 minutes or until golden brown.
While rolls bake, make frosting: Beat cream cheese, butter, powdered sugar, vanilla, and milk until smooth.
Spread frosting over warm rolls before serving.