Preparation Steps

• Bloom the yeast: In a large bowl, whisk warm milk with granulated sugar until dissolved. Sprinkle the yeast over the top and let stand until foamy, 5 to 10 minutes.
• Make the dough: Whisk in eggs and melted butter. Add 4.0 cups of the flour and the salt; stir with a wooden spoon until a shaggy dough forms. Knead in the remaining 0.5 cup flour as needed until the dough is soft, smooth, and slightly tacky, 5 to 7 minutes.
• First rise: Transfer dough to a lightly greased bowl, cover, and let rise in a warm spot until doubled in size, 60 to 90 minutes.
• Prepare the filling: In a small bowl, mix brown sugar and cinnamon. Soften the butter until spreadable.
• Roll out: Turn the dough onto a lightly floured surface and roll into a 12x18 inch rectangle with the long side facing you.
• Fill: Spread the softened butter over the dough to the edges. Sprinkle the cinnamon-sugar evenly and gently press it into the butter.
• Shape: Tightly roll up the dough from the long edge into a log, seam-side down. Trim the ends, then cut into 12 even rolls.
• Pan and proof: Grease a 9x13 inch baking pan. Arrange the rolls cut-side up, cover, and let rise until puffy and touching, 30 to 45 minutes. Meanwhile, preheat oven to 350 F.
• Bake: Bake at 350 F until lightly golden and set in the centers, 20 to 25 minutes. Do not overbake; the internal temperature should be about 190 F.
• Make frosting: Beat cream cheese and softened butter until smooth. Mix in powdered sugar, vanilla, and salt. Add milk a little at a time until silky and spreadable.
• Finish: Spread frosting over warm rolls so it melts into the swirls. Serve warm.
• Overnight option: After cutting, place rolls in the pan, cover, and refrigerate up to 16 hours. Bring to room temperature and proof until puffy, then bake as directed.