Soft, fluffy, and filled with cinnamon-sugar goodness, these homemade cinnamon rolls are perfect for breakfast, brunch, or a sweet treat anytime.

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In a bowl, combine warm milk and yeast. Let sit for 5–10 minutes until foamy.
Mix in sugar, melted butter, eggs, and salt. Gradually add flour and mix until a soft dough forms.
Knead the dough for about 8–10 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise for 1 hour or until doubled in size.
Roll out the dough into a 16×12 inch rectangle. Spread with softened butter, then sprinkle evenly with brown sugar and cinnamon.
Roll the dough tightly from the long side and cut into 12 equal rolls.
Place rolls in a greased 9×13 inch baking dish. Cover and let rise for another 30–45 minutes.
Preheat oven to 350°F (175°C). Bake rolls for 20–25 minutes or until golden brown.
For the frosting, beat cream cheese and butter until smooth. Add powdered sugar, vanilla, and milk, and mix until creamy.
Spread frosting over warm rolls before serving.