1. Prepare the Dough: In a large bowl, combine the flour, granulated sugar, yeast, and salt. In a separate bowl, whisk together the lukewarm milk, room temperature eggs, softened butter, and vanilla extract. Gradually add the wet ingredients to the dry ingredients, mixing until a shaggy mass forms.
2. Knead the Dough: Turn the dough onto a lightly floured surface. Knead thoroughly for about 8-10 minutes by hand, or 5-7 minutes with a stand mixer fitted with a dough hook, until the dough is smooth and elastic.
3. First Proofing: Place the kneaded dough in a greased bowl, turning once to coat. Cover the bowl with plastic wrap or a clean kitchen towel and let it rise in a warm, draft-free spot for 1-1.5 hours, or until doubled in size.
4. Create the Filling: While the dough is proofing, prepare the filling. In a small bowl, combine the softened butter, brown sugar, and ground cinnamon. Mix until it forms a smooth, spreadable paste.
5. Roll and Fill: Once the dough has doubled, gently punch it down to release the air. Turn the dough out onto a lightly floured surface and roll it into a large rectangle, approximately 1/4 inch thick. Spread the cinnamon filling evenly over the entire surface of the dough, leaving a small border clean along one long edge.
6. Shape the Rolls: Tightly roll the rectangle from the long side, starting from the edge with the filling. Once rolled, pinch the seam firmly to seal it. Use a sharp knife or unflavored dental floss to cut the roll into individual portions, about 1 inch thick.
7. Second Proofing: Arrange the cut cinnamon rolls in a greased 9×13 inch baking dish, leaving a little space between each roll. Cover the dish and let them rise again in a warm place for 30-45 minutes, or until they appear puffy.
8. Cook the Rolls: Preheat your oven to 375°F (190°C). Bake the cinnamon rolls for 20-25 minutes, or until they are golden brown on top and cooked through.
9. Prepare the Glaze: While the rolls are baking or cooling slightly, prepare the cream cheese frosting. In a medium bowl, beat together the softened cream cheese and softened butter until smooth. Gradually add the powdered sugar, mixing until combined. Stir in the vanilla extract. Add milk or heavy cream one tablespoon at a time until the frosting reaches your desired consistency.
10. Glaze and Serve: Once the cinnamon rolls have cooled slightly (they should still be warm), drizzle the cream cheese frosting generously over them. Serve immediately for the best experience.