In a mixing bowl, combine the warm milk with the active dry yeast. Let sit for about 5 minutes until frothy.

Add granulated sugar, large eggs, melted unsalted butter, and a splash of vanilla extract to the yeast mixture. Mix well, then gradually add flour and salt to create a shaggy dough.

Transfer the dough to a floured surface and knead for 8 to 10 minutes until smooth and slightly tacky.

Place kneaded dough in a greased bowl, cover, and let it rise in a warm area until it doubles in size, about 1 to 1.5 hours.

Mix brown sugar, cinnamon, and salt in a small bowl.

Once the dough has risen, punch it down and roll it out into a rectangle. Spread softened butter over it and sprinkle with the cinnamon-sugar filling. Roll tightly and slice into 12 equal rolls.

Grease a baking pan and place rolls in it, covering with a towel. Allow to rise until puffy, about 30 to 45 minutes.

Preheat oven to 350°F. Bake rolls for 25 to 30 minutes until golden brown.

Beat together cream cheese and butter until creamy, then add powdered sugar, brown sugar, milk, vanilla extract, and a pinch of salt. Whisk until smooth.

Drizzle the cream cheese glaze over the rolls once they have cooled for 10 minutes. Serve warm.