Microwave milk for 20-30 seconds until warm to touch (~100-110F). Add yeast, whisk, and rest for 10 minutes until foamy.

Add sugar, flour, eggs, salt, and room temperature butter to the same bowl.

Knead by hand: Mix with a large spoon to form shaggy dough, then knead on a floured surface for 15 minutes until soft, smooth, and stretchy.

Knead with a stand mixer: Use the dough hook and knead on medium high for 7-10 minutes until smooth and stretchy enough to pass the window-pane test.

Transfer to an oiled bowl, cover with cling wrap, and let rest in a warm place for 60-90 minutes until doubled in size.

Prepare the filling by mixing softened butter with cinnamon, sugar, and salt until spreadable.

Line a 9x13" baking pan with parchment paper.

Once the dough has risen, punch it down and roll into a 12x18" rectangle on a lightly floured surface.

Spread the filling evenly across the rectangle.

Cut the dough into 12 strips (1" wide and 18" long) and roll each strip tightly into a cinnamon roll. Place them in the baking tray in a 4x3 formation.

Let rolls rest for another 30-45 minutes until puffed up.

Preheat oven to 350F in the last 20 minutes of the second rise.

Pour ½ cup heavy cream over the rolls before baking.

Bake for 22-25 minutes until light golden and firm to touch. Let rest for 10 minutes after removing from the oven.

Whisk together cream cheese, butter, cream, and icing sugar until creamy to make the icing.

Spread icing generously onto warm rolls.