Proof the yeast: Combine warm milk and yeast in a large bowl. Let sit for 5 to 10 minutes until foamy.
Mix the dough: Add sugar, butter, eggs, and salt. Mix well, then gradually stir in flour until a soft dough forms.
Knead: Turn dough onto a floured surface and knead for 8 minutes until smooth and slightly tacky.
First rise: Place dough in a greased bowl, cover, and let rise in a warm spot for 1 to 1.5 hours until doubled.
Roll out: Punch down dough and roll into a 16x12 inch rectangle.
Add filling: Spread softened butter over the surface. Mix brown sugar and cinnamon, then sprinkle evenly on top.
Cut rolls: Roll the dough tightly from the long side and cut into 12 even rolls.
Second rise: Arrange rolls in a greased 9x13 dish, cover, and let rise 45 minutes.
Bake: Bake at 350°F (175°C) for 22 to 25 minutes until lightly golden.
Make glaze: Whisk cream cheese, powdered sugar, milk, and vanilla until smooth.
Glaze and serve: Spread glaze over warm rolls and serve immediately.