In a bowl, combine the yeast with the heated milk and let dissolve. In another bowl add the beaten eggs, softened butter, sugar, and salt. Mix well. Add flour and stir well. Pour the milk/yeast mixture into the bowl and mix well. The dough will be a little sticky. Transfer the dough to a lightly oiled bowl. Cover dough with a towel and let rise in a warm place for about an hour. The dough will almost double in size. Roll the dough out onto a floured surface into the shape of a rectangle (about 16 x 10")and 1/4 inch thick.

Brush the dough with the softened butter. In a bowl, mix the cinnamon and brown sugar together. Sprinkle on top of the dough. Cover the dough completely with the cinnamon and sugar mixture. Starting with the long end, begin rolling the dough. Keep the roll as tight as possible. Cut the dough into 1 1/2 inch slices. Placed the sliced rolls into a well-greased 13x9 inch pan, cover, and let rise for 30 minutes. This is the 2nd rise. They will almost double in size. Bake at 350 degrees for 20 minutes or until slightly browned on top.

While the rolls are baking, mix the icing. Beat the cream cheese and butter together. Add vanilla, powdered sugar, and milk. Beat on low until light and creamy. Add more milk if needed to make a slightly pourable icing. Allow rolls to cool slightly before adding the icing. Spread the icing generously on top of the rolls. I store any leftovers in the refrigerator. Enjoy!