In a bowl, combine warm milk, sugar, and yeast. Stir gently and let it sit for 5-10 minutes until it becomes frothy.
Add melted butter, salt, and eggs to the yeast mixture, stirring to combine. Gradually add flour, mixing until a dough forms.
Turn the dough onto a lightly floured surface and knead for 5-7 minutes, or until smooth and elastic.
Place the dough in a greased bowl, cover with a damp cloth, and let it rise for 1-1.5 hours, or until doubled in size.
Preheat the oven to 375°F (190°C).
Once the dough has risen, punch it down and roll it out on a floured surface into a large rectangle (about 16x12 inches).
Spread softened butter over the dough, then sprinkle evenly with brown sugar and cinnamon.
Roll the dough tightly from the longer side and cut it into 12 equal rolls.
Place the rolls into a greased 9x13-inch baking dish, cover with plastic wrap, and let rise for 30 minutes.
Bake for 20-25 minutes or until golden brown.
While the rolls bake, make the frosting: beat together cream cheese, powdered sugar, butter, and vanilla extract until smooth. Add milk to achieve the desired consistency.
Once the cinnamon rolls are done, spread the frosting over them while still warm. Serve and enjoy!