1. Prepare the Dough

• Activate the Yeast: In a small bowl, combine warm milk and a pinch of sugar. Sprinkle the yeast over the top and let it sit for about 5–10 minutes until it becomes frothy.
• Mix Wet Ingredients: In a large mixing bowl, whisk together the melted butter, remaining sugar, eggs, and salt. Add the activated yeast mixture and stir to combine.
• Incorporate Dry Ingredients: Gradually add the bread flour, one cup at a time, mixing until a soft dough forms. The dough should be slightly sticky but manageable.

2. Knead and Rise

• Knead the Dough: Transfer the dough to a lightly floured surface and knead for about 8–10 minutes until it becomes smooth and elastic. Alternatively, use a stand mixer with a dough hook attachment for 5–7 minutes.
• First Rise: Place the dough in a greased bowl, cover with plastic wrap or a clean kitchen towel, and let it rise in a warm, draft-free area for about 1–2 hours, or until doubled in size.

3. Prepare the Filling

• Mix Filling Ingredients: In a medium bowl, combine the brown sugar and ground cinnamon. Set aside.

4. Assemble the Rolls

• Roll Out the Dough: Once the dough has risen, punch it down to release the air. Transfer it to a lightly floured surface and roll it into a rectangle approximately 16×12 inches in size.
• Add the Filling: Spread the softened butter evenly over the rolled-out dough. Sprinkle the cinnamon-sugar mixture over the butter, ensuring an even layer.
• Form the Rolls: Starting from the longer edge, tightly roll the dough into a log. Pinch the seam to seal it. Using a sharp knife or dental floss, cut the log into 12 equal pieces.

5. Second Rise

• Arrange in Baking Dish: Place the rolls cut-side up in a greased 9×13-inch baking dish, leaving a bit of space between each roll.
• Let Them Rise: Cover the dish and let the rolls rise for about 30–45 minutes, or until they’ve doubled in size and are touching each other.

6. Bake

• Preheat Oven: Preheat your oven to 350°F (175°C).
• Bake the Rolls: Bake the risen rolls for 20–25 minutes, or until they are lightly golden brown and cooked through. Avoid overbaking to keep them soft.

7. Prepare the Cream Cheese Glaze

• Mix the Glaze: In a medium bowl, beat together the softened cream cheese and butter until smooth. Gradually add the powdered sugar, vanilla extract, and enough milk to achieve a pourable consistency.

8. Glaze and Serve

• Glaze the Rolls: Once the rolls are out of the oven, let them cool for about 10 minutes. Spread the cream cheese glaze over the warm rolls, allowing it to melt into the crevices.
• Enjoy: Serve the cinnamon rolls warm. They are best enjoyed fresh but can be stored in an airtight container at room temperature for up to 2 days. Reheat in the microwave for a few seconds before serving.