In a small bowl, stir the warm milk and yeast with a pinch of sugar; let sit for 5-10 minutes until foamy.

In a large bowl or stand mixer, whisk melted butter, eggs, salt, and 1/3 cup granulated sugar. Add the foamy yeast mixture.

Stir in 3 1/2 cups of the flour, then mix until a shaggy dough forms. Add the remaining 1/2 cup as needed for a soft, slightly tacky dough.

Knead 6-8 minutes by machine on low, or 10-12 minutes by hand, until smooth and elastic.

Place dough in a lightly oiled bowl, cover, and let rest for 20-30 minutes at room temperature.

On a floured surface, roll dough into a 16x12-inch rectangle.

Spread the softened butter evenly, then sprinkle the brown sugar-cinnamon mixture in an even layer.

Starting from the long edge, roll tightly into a log. Use a bench scraper to trim and cut 12-15 equal rolls.

Place rolls snugly in a greased 9x13 pan, cover tightly with plastic wrap.

Refrigerate overnight for 8-14 hours.

Remove pan from fridge 30-60 minutes before baking to take the chill off.

Preheat oven to 350°F.

Bake for 25-30 minutes until tops are golden and the centers reach about 190°F when tested with an instant-read thermometer.

Beat cream cheese and butter until smooth, add powdered sugar, vanilla, and thin to desired consistency with milk.

Spread icing over hot rolls so it melts into crevices. Serve warm.