In a bowl, combine warm milk, sugar, and yeast. Let sit for 5-10 minutes until frothy.
Add melted butter, eggs, and salt to the yeast mixture.
Gradually mix in flour until a dough forms.
Knead the dough on a floured surface for about 5-7 minutes until smooth.
Place the dough in a greased bowl, cover, and let it rise in a warm place for 1 hour.
Roll out the dough into a rectangle, about 1/4 inch thick.
Spread melted butter over the dough and sprinkle with brown sugar and cinnamon.
Roll the dough tightly into a log and cut into 12 equal pieces.
Place the rolls in a greased baking dish and let rise for another 30 minutes.
Bake in a preheated oven at 350°F (175°C) for 25-30 minutes until golden brown.
Mix powdered sugar, cream cheese, and milk to create the icing and drizzle over warm rolls.