1. In the bowl combine warm milk, sugar, salt, butter, and eggs beating till well combined. Add in flour and yeast. Using a dough hook, mix on to a low speed.
2. Once the everything starts to incorporate into a dough, increase the speed. Add extra flour only if the dough is sticking to the sides of the bowl.
3. The dough mixture should be a little sticky, but not stick to your hands. It should be soft. Add more or less flour until the dough reaches the desired consistency.
4. Transfer the dough to a lightly greased bowl. Cover with a towel and let rise until double in size, about 1 hour or 1 hour and 30 minutes. (I normally leave my bowl next to the tumble dryer while on)
5. Punch down the dough and roll into rectangle.
6. Brush the dough with melted butter.
7. In a bowl mix the brown sugar and cinnamon. Sprinkle on top of the melted butter.
8. Roll up tightly lengthwise so you have one long roll. Cut the dough into slices. (I used dental floss to cut, saw this on many YouTube videos and works well).
9. Place the slices onto a lightly greased pan or casserole. Cover and let rise for another 45 minutes.
10. Preheat oven to 162 degrees.
11. Bake the rolls for about 18 minutes, until light to medium brown on top.
12. Make the cream cheese frosting by whipping together cream cheese and butter in a bowl until light and fluffy. Add in icing sugar and vanilla essence. Add milk to achieve a drizzle-like consistency.
13. Smear or drizzle the rolls with frosting while still warm. Serve immediately or cool or warm later in microwave. Store in a cool place in a airtight container.

Notes:

After rolling the cinnamon rolls up, cut them as directed, arrange in greased pan, cover well with plastic wrap then place in fridge overnight. When you are ready to bake, bring the cinnamon rolls to room temperature and let them rise for 45 minutes to 1 hour before baking as directed.