Heat milk for 35 - 40 seconds in the microwave or until warm (100 degrees F).

In a small bowl, stir together yeast, 1 teaspoon sugar, and 1 tablespoon milk. Let yeast mixture sit for 4 - 5 minutes or until the mixture becomes foamy.

Using a stand mixer with the dough hook attachment, place flour, butter, eggs, salt, remaining milk and sugar, and yeast mixture into a bowl.

With speed on medium, knead dough until a ball forms. Add additional flour, 1 tablespoon at a time, if needed.

Once dough has risen, transfer onto a floured surface and shape into a rectangle.

Using a rolling pin, roll dough out into a large rectangle about ¼ inch thick.

In a medium size mixing bowl, add softened butter, brown sugar, granulated sugar, and cinnamon. Use a hand mixer to beat butter and sugars together until well incorporated.

Spread mixture over rolled out dough making sure the entire dough is covered.

Roll dough into a log shape and pinch together the end to create a seam and seal the dough log.

Slice into 8-10 rolls using a very sharp knife or thread.

Place rolls in a greased 9x13 baking dish and cover with a towel. Set in a warm place until doubled in size, about 30 - 40 minutes.

Heat oven to 350.

Once rolls have risen, bake in preheated oven for 20 - 22 minutes or until golden brown.

In a medium mixing bowl, add cream cheese, butter, vanilla, and powdered sugar. Beat with a hand mixer until creamy and well incorporated.

When rolls are taken out of oven, immediately cover with icing.