In a large bowl, combine warm milk, yeast, and sugar. Let stand for 5 minutes until foamy.

Add eggs, salt, and melted butter to the yeast mixture. Beat well.

Gradually add flour, mixing until a soft dough forms. Turn dough out onto a lightly floured surface and knead for 5-7 minutes until smooth and elastic.

Place dough in a greased bowl, turning to coat. Cover and let rise in a warm place for 1-1.5 hours, or until doubled in size.

While dough rises, prepare the filling by combining brown sugar, cinnamon, and softened butter.

Punch down the dough and roll it out into a 12x18 inch rectangle. Spread the filling evenly over the dough.

Tightly roll the dough into a log. Cut into 12 equal slices and place them in a greased 9x13 inch baking pan.

Cover and let rise for another 30 minutes.

Bake at 350°F (175°C) for 25-30 minutes, or until golden brown.

Let cool slightly before frosting. For the frosting, beat together cream cheese, butter, powdered sugar, and vanilla extract until smooth and creamy. Frost the warm rolls.