Place milk into a measuring cup, heat in the microwave for 1 minute. Mix in active dry yeast and 1 teaspoon sugar. Let sit for 10 minutes.
In a large bowl, combine flour, remaining sugar and salt. Add in yeast mixture, melted butter, and eggs. Mix until a dough forms. Knead dough on a floured surface until smooth and elastic.
Place dough into a large greased bowl, cover with a towel or plastic wrap. Place in a warm place and let rise for 1-2 hours, or until doubled in size.
In a medium bowl, combine brown sugar and cinnamon. Deflate dough and roll out on a floured surface to 1/2-inch rectangle. Evenly spread softened butter over dough, leaving a 1/2-inch border around the edges.
Sprinkle evenly with cinnamon sugar mixture. Roll dough into a tight log. Slice log into 12 even slices. Place cinnamon rolls into a greased baking dish. Preheat oven to 350 F. Cover and either let rise for 30-60 minutes, or cover and refrigerate overnight. When ready to bake, let rolls sit at room temperature for 30-60 minutes.
Bake for 20-25 minutes. For the cream cheese icing, in a large bowl, beat all icing ingredients together until smooth, adding more milk as needed to thin.
Let rolls cool for a minute before spreading icing over warm rolls.
