Dough
1 cup (240ml) warm milk
2 and 1/4 teaspoons (1 packet) instant yeast
1/2 cup (100g) granulated sugar
1/3 cup (75g) unsalted butter, melted
1 teaspoon salt
2 large eggs
4 cups (500g) all-purpose flour
Filling
1/2 cup (115g) unsalted butter, softened
1 cup (200g) packed light brown sugar
2 tablespoons ground cinnamon
Frosting
4 ounces (113g) cream cheese, softened
1/4 cup (60g) unsalted butter, softened
1 to 1 and 1/2 cups (120-180g) confectioners’ sugar
1/2 teaspoon pure vanilla extract
Make the dough: In a large bowl, combine the warm milk, yeast, and 1 tablespoon of the sugar. Stir lightly and let sit for about 5 minutes until the yeast is foamy. Add the remaining sugar, melted butter, salt, eggs, and 2 cups of flour. Beat on medium speed until smooth. Add the remaining flour, 1/2 cup at a time, mixing well after each addition. When the dough has pulled together, turn it out onto a lightly floured surface and knead until smooth and elastic, about 8 minutes.
Place the dough in a lightly oiled bowl, cover with plastic wrap, and let rise in a warm place until doubled in volume, about 1 hour.
Prepare the filling: In a small bowl, combine the brown sugar and cinnamon. Set aside. Punch down the dough and turn it out onto a lightly floured surface. Roll the dough into a 16x21-inch rectangle. Spread the softened butter over the dough, then sprinkle evenly with the sugar and cinnamon mixture.
Roll up the dough tightly, starting from the long edge. Cut into 12 to 15 slices and place them in a greased 9x13 inch baking pan. Cover and let rise until nearly doubled, about 30 minutes. Meanwhile, preheat the oven to 350°F (175°C).
Bake the rolls: Bake the rolls in the preheated oven until golden brown, about 20 minutes. While the rolls are baking, make the frosting. Beat the cream cheese, butter, confectioners’ sugar, and vanilla extract until smooth and creamy.
Frost the rolls: Remove the rolls from the oven and immediately spread the frosting over the warm rolls. Serve warm.
Store any leftovers in an airtight container at room temperature for up to 2 days or in the refrigerator for up to 1 week.
