For the dough, sprinkle the yeast over the milk in a large bowl and set it aside. The yeast will become bubbly or a little spongy in appearance after some time. Once the yeast is activated, add the softened butter, sugar, eggs, and vanilla extract.

If you are working with a stand mixer, add 1 cup of flour at a time and let it go till you get a ball of dough. Take it out and start kneading by hand. If you are kneading by hand from the start, add the wet mix to the flour and then bring it all together. The dough will be a little wet and sticky at the beginning. Work on a floured surface till the dough is smooth and elastic.

Grease a large bowl and place the kneaded dough inside. Cover this with a damp kitchen towel and keep it in a warm place to rise. This should take about an hour or two.

Meanwhile, make the filling. Cream the butter with the cinnamon and brown sugar. You should have a nice buttery homogenous mix.

Once the dough has risen, gently press it down to release the air. Take out the dough ball and put it on a floured surface.

Roll out the dough in a large rectangular shape. It should be about quarter-inch thick.

Spread this dough sheet with the cinnamon filling. Make sure the filling is spread evenly.

Start rolling the dough along the long side. Keep stretching to ensure that it is rolled into a tight and taut roll.

Take a bench scraper or a sharp knife and start making cuts on the roll. Make sure all the cuts are of the same size.

Grease a 9-inch baking dish and place the dough balls so that the cut surface with its cinnamon speckled swirls face up. Cover the dish with a kitchen towel and keep in a warm place for the dough to get its second rising. The rolls will double in size. This will take 45 minutes.

Bake at 350º F for 10-15 minutes. 

For the icing, beat the cream cheese, vanilla extract, butter/milk/cream together. Add the sugar 1 teaspoon at a time and keep checking the flavor. Stop when you have the consistency you want.

Pour the icing over the rolls and serve warm.