In a large bowl, combine the warm milk mixture with 1 tablespoon of the granulated sugar and the instant yeast. Let sit 5–7 minutes until foamy. (If your yeast was added directly to flour, simply mix dry yeast into flour and proceed.)

Mix dough

To the yeast mixture add the remaining granulated sugar, eggs (lightly beaten), salt, and half the flour. Mix until combined, then add remaining flour gradually. Add the remaining 4 tablespoons melted butter and continue mixing until a soft dough forms.

Knead

Turn dough onto a lightly floured surface and knead 6–8 minutes until smooth and slightly elastic. Alternatively, knead with a stand mixer fitted with a dough hook on medium speed 4–5 minutes.

First rise

Place dough in a lightly oiled bowl, cover with plastic wrap or a damp towel, and let rise in a warm draft-free place until doubled in size, about 1 to 1¼ hours.

Filling and Assembly

Prepare filling

While dough rises, combine softened butter (6 tbsp), brown sugar, ground cinnamon, vanilla, and a pinch of salt in a bowl. Mix until you have a spreadable, slightly grainy paste.

Roll out dough

After the dough has doubled, punch it down and turn onto a lightly floured surface. Roll into a rectangle about 16 x 12 inches and roughly 1/4 inch thick.

Spread filling

Evenly spread the cinnamon-brown sugar filling over the dough, leaving a 1/2-inch border on one long edge.

Form the log

Starting at the long edge opposite the border, tightly roll the dough into a log. Pinch seam to seal and tuck ends under.

Cut rolls

Using dental floss or a sharp knife, slice the log into 12 equal rolls (about 1 to 1¼-inch thick). Place rolls cut side up in a lightly buttered 9x13-inch baking pan, spacing them evenly.

Second rise

Cover the pan with plastic wrap or a damp towel and let the rolls rise until puffy and nearly doubled, about 30–45 minutes.

Bake

Preheat oven

Preheat oven to 350°F (175°C) while rolls complete second rise.

Bake rolls

Bake the rolls for 22–28 minutes, until golden brown on top and cooked through. If the tops brown too quickly, tent loosely with foil for the last 5–10 minutes.

Cool slightly

Remove from oven and let the rolls cool in the pan 8–10 minutes before icing. This prevents glaze from completely melting away.

Glaze

Make cream cheese glaze

While the rolls cool, beat together softened cream cheese and 2 tablespoons softened butter until smooth. Add powdered sugar, vanilla, pinch of salt, and 1 tablespoon milk; beat until smooth and spreadable. If too thick, add the remaining tablespoon milk 1 tsp at a time until desired consistency is reached.