Pour milk, sugar, yeast, 2 tablespoons butter and eggs into a large mixing bowl. Stir with wooden spoon or dough whisk. Set aside 5 minutes.
Add 2 cups of flour and salt. Mix well.
Add more flour 1/2 cup at a time until dough forms a ball and pulls away from sides of the bowl.
Pour dough out onto a floured surface and knead for 3- 5 minutes, incorporating more flour if needed. Dough should no longer be sticky.
Grease a large bowl and add dough, turn to coat. Cover with plastic wrap and place in a warm place to rise for about an hour.
Punch dough down onto a floured surface and roll out into about 12" x 18" rectangle.
Spread with 1/4 cup of softened butter.
Sprinkle brown sugar evenly over dough.
Next, sprinkle cinnamon over brown sugar.
Tightly roll up dough from the long side.
Cut dough into 1 1/2 inch slices with a serrated knife.
Place on a greased baking sheet or 9 x 13 baking pan.
Loosely cover and allow to rise for 30- 45 minutes.
Preheat oven to 350°.
Bake for 20-22 minutes or until rolls are cooked through and lightly browned.
Combine cream cheese, 3 tablespoons butter, powdered sugar, milk and vanilla extract. You can use an electric mixer or mix well with a wooden spoon.
Allow cinnamon rolls to cool about 5 minutes before icing.
Serve immediately.