In large bowl, sprinkle yeast over warmed milk. Add eggs, butter, and sugar. Mix until combined.

Add in salt and 4 cups of flour. Set remaining 1/2 cup of flour aside. Mix just until combined then allow to rest for 5 minutes so dough can absorb any remaining liquid.

If using stand mixer, beat dough on medium speed for 5-7 minutes, adding remaining flour if needed to form dough. To knead by hand, turn out onto floured surface and knead for several minutes, again, only adding remaining flour if necessary. Dough should be smooth and elastic.

Spray large bowl with cooking spray and place dough into bowl. Cover bowl with a towel. Set in warm place (closed oven with oven light on works well) and allow dough to rise until doubled - about 30 minutes.

While dough is rising, prepare cinnamon filling. In a medium bowl, combine soft butter, brown sugar, and cinnamon, mixing until well combined. Set aside.

Sprinkle a pastry mat generously with flour. Turn out the dough onto the pastry mat and sprinkle the top of the dough with additional flour. Flour a rolling pin and roll the dough to about a 24×15" rectangle. Size does not have to be exact. Spread cinnamon mixture over whole dough rectangle being careful to spread to each end.

Starting on a long end, roll the dough up tightly. Cut into 12 rolls and place, evenly spaced to allow expansion, in a greased 9x13 pan.

Cover and allow rolls to rise for another 20 minutes or until nearly double. If preferred, rolls can be covered with plastic wrap and refrigerated overnight after this rise. If refrigerated overnight, bring to room temp before continuing baking instructions.

Preheat oven to 375 degrees. Bake for 35 minutes or until rolls are lightly golden brown and the centers are cooked through.

Cool rolls for 15-20 minutes before icing.

While rolls are cooling, prepare icing by beating together cream cheese and butter in a large bowl. When light and fluffy, add in powdered sugar and vanilla. Beat until combined. Spread over cooled rolls.