Add yeast and sugar to warm milk in a large bowl. Stir gently to combine and allow the yeast to foam to proof. Once the yeast has proofed, stir in melted butter, salt, eggs, and flour into yeast mixture. Gently mix until well-combined.
Turn dough onto a lightly floured surface and knead for 10-12 minutes. Form the dough into a large ball and place into a large buttered glass bowl. Cover lightly with plastic or with a tea towel and place in a warm location free of any drafts. Allow to rise so that the dough is doubled in size.
Place dough on a large lightly floured surface and roll to a ¼ inch thickness. Spread softened butter over the top of the dough.
Stir together the brown sugar and cinnamon and sprinkle generously all over the buttered dough.
Tightly roll the dough, beginning at the long edge, and roll to the center of the dough. Repeat with the other side, rolling the dough to meet in the middle.
Cut the dough into ¾-inch to 1-inch slices and place onto a lightly buttered sheet pan. Pinch the bottom of each slice to make sure the cinnamon roll dough is in the shape of a heart.
Preheat oven to 400º Fahrenheit.
Allow rolls to rise for 30 minutes on sheet pan.
Place rolls into oven and allow to cook until lightly browned and cooked through, but not overcooked, about 15-20 minutes.
While cinnamon rolls are baking, prepare cream cheese frosting by creaming together butter, confectioner’s sugar, cream cheese, vanilla, and salt.
Remove cinnamon rolls from the oven and allow to cool slightly. Spread frosting generously over rolls while they are warm.
