In a small bowl, combine warm milk, 1 teaspoon sugar and yeast. Let sit for 10 minutes. In a large bowl, combine flour, remaining sugar, salt, cinnamon, ginger, nutmeg and cloves. Add in yeast mixture, eggs, melted butter and molasses. Mix until a dough forms.
Knead dough on a floured surface until smooth. Place dough into a large greased bowl, turning to coat, cover and let rise for 1-2 hours, or until doubled in size. Preheat oven to 350 F. for the filling, in a small bowl, combine brown sugar, cinnamon, ginger and nutmeg.
Deflate dough and roll out into a long rectangle. Evenly spread the softened butter onto the dough, leaving a 1-inch edge around the sides. Sprinkle with the brown sugar mixture. Roll up into a long log and cut into 12 even rolls. Place rolls into a greased baking dish. Cover and let rise for 30-60 minutes.
Bake for 25-30 minutes. For the cream cheese glaze, using a mixer, beat the softened cream cheese and butter with powdered sugar, milk and vanilla extract until smooth. Evenly spread onto warm cinnamon rolls.
