Activate the yeast

• Warm the milk until just lukewarm.
• Stir in the yeast and a spoonful of the sugar and let it sit until foamy.

Make the dough

• Add the remaining sugar, flour, eggs, melted butter and salt.
• Knead until the dough is smooth and elastic.

Let the dough rise

• Cover the bowl and leave the dough in a warm spot until doubled in size.

Make the filling

• Mix the brown sugar and cinnamon together in a bowl.

Roll out and fill

• Roll the dough into a large rectangle on a floured surface.
• Spread the softened butter over the dough and scatter the cinnamon sugar evenly on top.

Shape the rolls

• Roll the dough up tightly into a log.
• Cut the log into even slices and arrange them in a buttered baking dish.

Second rise

• Cover the dish and let the rolls rise until puffy.

Bake

• Bake the rolls until golden and cooked through.

Make the frosting

• Beat the cream cheese and butter until smooth.
• Add the powdered sugar and vanilla and mix until creamy.

Frost and serve

• Spread the frosting over the warm rolls and serve.