In the bowl of a stand mixer, combine the warm milk, yeast, and 1 tablespoon of the granulated sugar. Let sit for 5-10 minutes until frothy.

Add the remaining sugar, melted butter, and eggs. Whisk to combine.

Add 4 cups of flour and the salt. Attach the dough hook and knead on low speed. Add the remaining 1/2 cup of flour only if the dough is too sticky. Knead for 5-7 minutes until the dough is smooth and slightly tacky.

Transfer dough to a greased bowl, cover with a warm towel, and let rise in a warm place for 1 hour, or until doubled in size.

Punch the dough down and roll it out on a lightly floured surface into a 12x18 inch rectangle.

Spread the very soft butter evenly over the dough. In a small bowl, mix the brown sugar and cinnamon, then sprinkle it evenly over the butter, pressing it lightly into the dough.

Tightly roll up the dough starting from the 18-inch side. Cut into 12 equal slices.

Place the rolls in a greased 9x13 inch baking dish. Cover and let rise for another 30-45 minutes until puffy.

Preheat oven to 350°F (175°C). Bake the rolls for 20-25 minutes until golden brown.

While baking, beat the softened cream cheese and butter together until fluffy. Add the powdered sugar and vanilla, beating until smooth.

Spread the frosting over the warm cinnamon rolls immediately after removing them from the oven. Serve warm!