Make the dough: n a stand mixer with a dough hook, combine flour, sugar, salt, and yeast. Pour in warm milk (105°F), melted butter, and eggs. Mix on low until a shaggy dough forms, then knead on medium for 6–8 minutes. The dough should be tacky but pull away cleanly from the sides. Add a little flour only if the dough is very sticky.
First rise: Place dough in a lightly greased bowl, cover, and let rise in a warm spot until doubled, about 60–90 minutes.
Prepare filling: Mix softened butter, brown sugar, and cinnamon until smooth.
Shape rolls: Roll dough on a lightly floured surface into a 12×18-inch (30×45 cm) rectangle. Spread filling evenly, leaving a small border.
Roll tightly from the long side into a log. Trim ends and cut into 12 rolls. Pro Tip: Use unflavored dental floss to "slice" the log into 12 even rolls. This prevents squashing the dough.
Second rise: Place rolls in a parchment-lined 9×13-inch (23×33 cm) pan, leaving space between them. Cover loosely and let rise 30–45 minutes until puffy.
Bake: Heat oven to 350°F (180°C). Bake 18–22 minutes until lightly golden and soft in the center. Do not overbake or they will be dry!
Make frosting: Whisk cream cheese, butter, powdered sugar, vanilla, and milk until smooth.
Finish: Spread frosting over warm (not hot) rolls and serve.
Video
Notes
Make Ahead: Rolls can be assembled and refrigerated overnight before the second rise. In the morning, let them sit at room temp 30–45 min, then bake.
Don't Over-Flour: When rolling out the dough, use just enough flour to prevent sticking. Too much extra flour makes the rolls tough.
Yeast: Recipe uses instant yeast, so no blooming needed. If using active dry yeast, dissolve it in warm milk with 1 tbsp sugar for 5–10 min first.
Milk: Milk should feel warm but not hot (about 100–105°F / 38–43°C).
Overnight Cinnamon Rolls Option: After cutting the rolls and placing them in the pan, cover tightly with plastic wrap and refrigerate. In the morning, let them sit at room temp for 45 mins before baking
Storage & Reheating: Store covered at room temp 1 day or refrigerate up to 4 days. Reheat rolls 15–20 seconds in microwave or warm in oven at 150°C / 300°F.