In a large mixing bowl, dissolve the yeast in the warmed milk. Stir in 1 tsp of sugar and let it sit for about 5 minutes, or until the mixture becomes foamy.

Add the remaining sugar, softened butter, salt, eggs, and flour to the bowl. Mix until the ingredients come together into a dough.

Knead the dough on a lightly floured surface for about 5–7 minutes, or until it becomes smooth and elastic. (You can also use a stand mixer with a dough hook for this step.)

Grease a large bowl, place the dough inside, and cover it with a clean kitchen towel or plastic wrap. Set the bowl in a warm spot and let the dough rise for 1 hour, or until it doubles in size.

In a small bowl, mix the brown sugar and cinnamon together until well combined and the texture resembles fine sand. Set aside.

Once the dough has risen, roll it out on a lightly floured surface into a rectangle approximately 15” x 12” and about 1/4” thick.

Spread the softened butter evenly over the surface of the dough. Sprinkle the cinnamon-sugar mixture on top, covering the buttered surface completely.

Slice the dough into strips about 1.25”–1.5” wide. Roll each strip tightly into a spiral, forming individual rolls.

Place the rolls into a greased 13” x 9” baking dish, spacing them evenly.

Cover the baking dish loosely with a kitchen towel and let the rolls rise for about 30 minutes, or until they double in size.

Preheat your oven to 350°F. Once the rolls have risen, bake them for 20–25 minutes, or until they are cooked through and just starting to turn golden brown.

In a medium bowl, combine the softened butter, powdered sugar, cream cheese, vanilla extract, and a pinch of salt. Mix with an electric mixer until the icing is smooth and creamy.

Once the cinnamon rolls are out of the oven, spread the icing over the top while they are still warm, allowing it to melt into the rolls.