In a stand mixer, combine warm milk, yeast, sugar, salt, butter and eggs. Add flour. Start with 2-3 cups of flour and increase amount if needed. Using a dough hook, mix starting on low speed.
Once flour begins to incorporate, increase the speed to medium. Dough should begin to to pull away from the sides of the bowl. If it does not, you may need to add more flour as necessary. Dough should be somewhat sticky, but not so much that it sticks to your hands. Amount of flour is always an approximation as many factors can effect the consistency of the dough. You should go by more of the feel of the dough.
Place the dough in a lightly greased bowl. Cover with a towel and let rise until double in size (approximately one hour).
Using your counter top or a pastry mat, punch down the dough and roll into a 12 inch by 18 inch rectangle.
In a small bowl combine brown sugar and cinnamon. Brush the dough with melted butter and sprinkle with sugar and cinnamon mixture. Roll up tightly lengthwise so you have one long roll or log. Cut into 12 one-inch slices. a serrated knife or plain dental floss work best for cutting into slices.
Lightly grease a 9x13 baking dish and place the slices in the dish. Cover and let rise for another 30 - 45 minutes.
Preheat oven to 325 degrees and bakes rolls for about 14 minutes or until the tops are lightly browned. Cooking time is approximate and varies from one oven to another.
While cinnamon rolls are baking, make the cream cheese glaze. Whip together cream cheese and butter until light and fluffy. Add in powdered sugar and vanilla and mix. Add enough milk to make it your desired drizzling consistency.
Frost cinnamon rolls while still warm. Rolls are best when served immediately. Cool and store for up to 5 days.
