In a large mixing bowl, combine the warm milk, melted butter, and sugar, whisking until the sugar is dissolved.
Add the instant yeast and let it sit for about 5 minutes, until it becomes frothy.
Stir in the eggs until well combined.
Gradually add the flour and salt to the mixture, kneading it into a soft dough. You can use a stand mixer or mix by hand until it begins to pull away from the sides of the bowl.
Transfer the dough to a floured surface and knead for about 5-7 minutes until it's smooth and elastic.
Place the dough in a greased bowl, cover it with a kitchen towel, and let it rise in a warm area for 1 hour or until it has doubled in size.
While the dough is rising, prepare the filling by mixing brown sugar, cinnamon, and softened butter in a small bowl.
Once the dough has risen, punch it down and roll it out on a floured surface into a 16x24 inch rectangle.
Spread the cinnamon filling mixture evenly over the dough.
Starting from the long edge, tightly roll up the dough into a log. Pinch the seam to seal it, then cut it into 12 equal rolls.
Place the rolls in a greased 9x13 inch baking dish, cover them again with a towel, and let them rise for another 30 minutes.
Preheat your oven to 350°F (175°C).
Bake the rolls for 25-30 minutes, or until they are lightly golden brown.
While they bake, prepare the glaze by whisking together powdered sugar, softened cream cheese, and milk until smooth.
When the rolls are done, remove them from the oven and let them cool for a few minutes before drizzling the glaze over the top.
Notes
For best results, ensure the milk is warmed to the correct temperature.