In a small bowl, combine the active dry yeast with lukewarm milk and 1 teaspoon of granulated sugar. Stir gently, then let it sit for 5-10 minutes until frothy.

In a large mixing bowl, blend the remaining sugar, softened butter, salt, eggs, and 2 cups of flour. Pour in the yeast mixture and stir until combined. Gradually add the remaining flour until a soft, slightly tacky dough forms.

Transfer the dough into an oiled bowl, cover it, and let rise in a warm area for about 1 hour, or until doubled in size.

While the dough is rising, mix the packed brown sugar and ground cinnamon until well combined.

Once risen, punch down the dough gently and roll it out into a 16x12 inch rectangle. Spread softened butter over the dough and sprinkle with the cinnamon mixture. Roll tightly and pinch edges to seal.

Cut the rolled log into 12 equal pieces using a serrated knife and arrange them in a greased baking dish.

Cover the rolls and let them rise in a warm spot for about 30 minutes until puffy.

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

Prepare the cream cheese icing by beating together cream cheese, butter, powdered sugar, vanilla extract, and salt until smooth.

Once out of the oven, generously frost the warm rolls with icing and serve immediately.