Combine warm milk (110°F) and granulated sugar in a small bowl, sprinkle active dry yeast on top, and let sit for 5 minutes until frothy.

In a large bowl, whisk together all-purpose flour and salt.

Add the yeast mixture, melted butter, and eggs to the flour mixture and stir until a soft dough forms.

Turn the dough onto a floured surface and knead for 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a kitchen towel, and let rise in a warm place for 1 hour or until doubled in size.

While the dough rises, mix brown sugar, ground cinnamon, and melted butter in a bowl to prepare the filling.

Punch down the risen dough and roll it out into a 16x12 inch rectangle about 1/4 inch thick.

Spread the cinnamon filling evenly over the dough, then tightly roll up from the long edge.

Cut the rolled dough into 12 equal slices and place them cut side up in a greased baking dish.

Preheat the oven to 350°F and bake the rolls for 25 minutes or until golden brown.

In a bowl, beat softened cream cheese and powdered sugar, then add vanilla extract and milk to make a smooth glaze.

Let the rolls cool for 10 minutes, then drizzle the cream cheese glaze evenly over the top.