Prepare the Dough

1. Activate the Yeast: In a bowl, warm the milk to 110°F. Add the yeast and sugar, stirring to combine. Let it sit for about 5 minutes, or until the mixture becomes foamy.
2. Mix the Dough: In a separate large bowl, combine the butter, eggs, flour, and salt. Pour the yeast mixture into the bowl and stir until a dough begins to form.
3. Knead the Dough: Turn the dough out onto a lightly floured surface and knead for about 5-7 minutes, until the dough is smooth and elastic.
4. Let It Rise: Place the dough in a greased bowl and cover with a clean towel. Let it rise in a warm place for about 1 hour, or until it has doubled in size.

Make the Filling

1. Combine the Ingredients: In a small bowl, mix the brown sugar and cinnamon together. Set aside the softened butter for spreading later.
2. Roll Out the Dough: Once the dough has risen, punch it down to release the air. Roll it out on a lightly floured surface into a 16×12-inch rectangle.
3. Spread the Butter: Spread the softened butter evenly across the dough, leaving a small border around the edges.
4. Sprinkle the Cinnamon-Sugar: Evenly sprinkle the cinnamon-sugar mixture over the buttered dough.

Shape the Rolls

1. Roll Up the Dough: Starting from the long edge of the rectangle, carefully roll the dough into a tight log.
2. Cut the Rolls: Using a sharp knife or dental floss, slice the dough log into 12 even rolls.
3. Prepare for Baking: Place the rolls in a greased 9×13-inch baking pan, spacing them evenly apart. Cover with a clean towel and let rise for another 30-45 minutes.

Bake the Cinnamon Rolls

1. Preheat the Oven: Preheat your oven to 350°F (175°C).
2. Bake the Rolls: Once the rolls have risen, bake them in the preheated oven for 25-30 minutes, or until golden brown.
3. Cool the Rolls: Remove the rolls from the oven and let them cool for about 10 minutes.

Make the Glaze

1. Prepare the Glaze: While the rolls are cooling, beat together the cream cheese, powdered sugar, butter, and vanilla extract until smooth. Add milk 1 tablespoon at a time until the glaze reaches your desired consistency.
2. Glaze the Rolls: Once the rolls have cooled slightly, drizzle the glaze generously over the warm rolls.