In the bowl of a stand mixer, sprinkle the yeast over the warm milk. Add the granulated sugar, stir gently, and let it sit for 5-10 minutes until the mixture is foamy. This proves the yeast is active.

Add the melted butter, room temperature eggs, and salt to the yeast mixture. Whisk to combine.

Attach the dough hook to the mixer. Add 4 cups of flour to the bowl. Mix on low speed until a shaggy dough forms. Increase the speed to medium-low and knead for 5-7 minutes, until the dough is smooth and elastic. If the dough is too sticky, add the remaining 1/2 cup of flour, 1 tablespoon at a time. The dough should pull away from the sides of the bowl.

Transfer the dough to a large, lightly oiled bowl, turning to coat. Cover with plastic wrap or a clean kitchen towel and place in a warm, draft-free spot to rise for 60-90 minutes, or until doubled in size.

While the dough rises, prepare the filling. In a small bowl, combine the packed brown sugar and ground cinnamon. Set aside. Grease a 9x13 inch baking pan.

Once the dough has doubled, gently punch it down to release the air. Transfer to a lightly floured surface and roll it out into a large rectangle, approximately 18x12 inches.

Spread the very soft butter evenly over the surface of the dough, leaving a small 1/2-inch border along one of the long edges.

Sprinkle the cinnamon-sugar mixture evenly over the butter. Gently press it into the dough with your hands.

Starting from the long edge opposite the clean border, roll the dough up tightly into a log. Pinch the seam to seal it. Place the log seam-side down.

Using a sharp knife or unflavored dental floss for a clean cut, slice the log into 12 equal-sized rolls. Arrange the rolls cut-side up in the prepared baking pan.

Cover the pan loosely with plastic wrap and let the rolls rise for a second time in a warm place for 30-45 minutes, until they are visibly puffy and touching each other.

Preheat your oven to 375°F (190°C) during the last 15 minutes of the second rise.

Uncover the rolls and bake for 22-28 minutes, or until they are golden brown on top and cooked through in the center. If they start to brown too quickly, you can tent the pan with foil.

Let the rolls cool in the pan for about 10-15 minutes before frosting.

While the rolls are cooling, make the frosting. In a medium bowl, use an electric mixer to beat the softened cream cheese and butter together until smooth and creamy.

Add the sifted powdered sugar and vanilla extract. Mix on low speed until combined, then increase to medium-high and beat until light and fluffy. Add milk or cream, 1 tablespoon at a time, until you reach your desired drizzling or spreading consistency.

Spread the frosting generously over the warm cinnamon rolls. Serve immediately.