Step 1: Warm the milk to 105-115°F (40-46°C). In a large bowl, combine the warm milk with 1 teaspoon of granulated sugar and sprinkle the yeast over top. Let stand for 5-10 minutes until foamy.
Step 2: Add the remaining granulated sugar, melted and cooled butter (½ cup), eggs, and salt to the yeast mixture. Mix well.
Step 3: Gradually add 4 ½ cups of flour, mixing until a shaggy dough forms. If needed, add more flour, 1 tablespoon at a time, until the dough comes together.
Step 4: Turn the dough out onto a lightly floured surface and knead for 8-10 minutes (or use a stand mixer with a dough hook for 5-7 minutes) until smooth and elastic.
Step 5: Lightly grease a large bowl. Place the dough in the bowl, turn once to coat, then cover with plastic wrap or a clean kitchen towel. Let rise in a warm place for 1 to 1.5 hours, or until doubled in size.
Step 6: While the dough rises, prepare the filling: In a medium bowl, combine ½ cup softened butter, light brown sugar, and ground cinnamon. Mix until well combined and paste-like.
Step 7: Once risen, gently punch down the dough. On a lightly floured surface, roll the dough into an 18x12 inch (45x30 cm) rectangle, about ¼ inch thick.
Step 8: Spread the cinnamon filling evenly over the dough, leaving a ½-inch border along one long edge.
Step 9: Tightly roll the dough into a log from the long edge opposite the border. Pinch the seam closed to seal.
Step 10: Using a sharp knife or unflavored dental floss, cut the log into 12 equal 1.5-inch thick pieces.
Step 11: Lightly grease a 9x13 inch baking pan. Arrange the cut rolls in the pan, leaving a little space between them.
Step 12: Cover the pan and let the rolls rise in a warm place for another 30-45 minutes, or until puffy and nearly doubled in size.
Step 13: Preheat oven to 375°F (190°C).
Step 14: Bake for 20-25 minutes, or until golden brown. If browning too quickly, loosely tent with foil.
Step 15: While rolls bake, prepare the frosting: In a medium bowl, beat softened cream cheese and softened butter (½ cup) until smooth and creamy.
Step 16: Gradually add powdered sugar, mixing until smooth. Stir in vanilla extract and 2-3 tablespoons of milk (or cream) until desired consistency is reached.
Step 17: Let the baked cinnamon rolls cool in the pan for 5-10 minutes.
Step 18: Generously spread the cream cheese frosting over the warm rolls. Serve immediately.