In a small bowl, dissolve the active dry yeast in lukewarm milk with a teaspoon of granulated sugar. Wait for about 5-10 minutes until it becomes foamy.

In a mixing bowl, combine the remaining granulated sugar, softened unsalted butter, salt, eggs, and 2 cups of all-purpose flour. Pour in the foamy yeast mixture and blend. Gradually mix in the remaining flour until a soft, tacky dough forms.

Place your dough in an oiled bowl, cover it with a kitchen towel, and set it in a warm, draft-free spot for about 1 hour.

In a separate bowl, whisk together the packed brown sugar and ground cinnamon until well combined.

Once the dough is ready, roll it out into a rectangle, approximately 16x12 inches. Spread softened butter over the dough, then sprinkle the cinnamon-sugar mixture generously. Roll tightly into a log.

Using a serrated knife or unflavored dental floss, slice the log into 12 equal rolls.

Arrange the sliced rolls in a greased baking dish, cover them, and allow them to rise again for about 30 minutes.

Preheat your oven to 350°F (177°C). Bake the rolls for 20-25 minutes until golden brown.

While the rolls cool, beat together the cream cheese, softened butter, powdered sugar, vanilla extract, and pinch of salt until smooth.

Generously slather the icing over your warm cinnamon rolls and serve immediately.