In a large mixing bowl, combine warm milk, sugar, and yeast. Let it sit for about 5 minutes until frothy to activate the yeast.

In another bowl, whisk together flour and salt.

Gradually add the flour mixture to the yeast mixture, stirring until a dough forms.

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

Place the dough in a greased bowl and cover with plastic wrap. Let it rise in a warm place for about 1 hour, or until doubled in size.

In a small bowl, mix brown sugar and cinnamon.

After rising, roll the dough into a rectangle about 1/4 inch thick.

Spread melted butter over the dough, then sprinkle the cinnamon-sugar filling evenly. Tightly roll the dough and cut into 12 equal pieces.

Bake in a preheated oven at 350°F (175°C) for 25 minutes until golden brown.

Let the rolls cool slightly, then prepare the glaze with softened cream cheese, powdered sugar, and vanilla extract.