Dissolve the active dry yeast in the warm milk and let stand for about 5 minutes, or until foamy.
In the bowl of a stand mixer fitted with the dough hook, combine the sugar, butter, salt, eggs, and flour. Pour in the yeast mixture and mix until a soft dough forms.
Transfer the dough to a lightly greased large bowl. Cover with plastic wrap or a clean kitchen towel and let rise in a warm place until doubled in size, about 1 hour.
Grease a 9x13-inch baking pan.
Turn the dough onto a lightly floured surface and roll into a 16 x 13-inch rectangle about ¼-inch thick.
Combine the brown sugar and cinnamon. Spread the softened butter over the dough, then sprinkle the cinnamon filling evenly over the butter.
Starting with the long side, tightly roll the dough into a log. Slice into 12 equal rolls, about 1½ inches thick.
Arrange the rolls in the prepared pan. Cover and let rise for 30 minutes. Bake at 350°F for about 20 minutes, or until lightly golden brown.
Meanwhile, beat together the cream cheese frosting ingredients until smooth. Spread over the warm cinnamon rolls.
Serve warm and enjoy!
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Notes
Use warm milk (105-110°F) to properly activate the yeast.
The dough should be soft and slightly tacky. Avoid adding too much flour.
Refrigerate overnight before baking for an easy holiday or weekend breakfast.
Store leftovers in an airtight container for up to 2 days at room temperature or 5 days in the refrigerator.
Freeze baked or unbaked cinnamon rolls for up to 3 months.
Warm leftovers in the microwave for 10-15 seconds before serving.