Grease a 9x13-inch baking dish and set aside. Combine warm water, yeast, and sugar in a bowl. Allow it to foam for 7–10 minutes.

Heat milk with butter, sugar, and salt until the butter melts. It should reach 120–130°F.

Combine flour, warm milk mixture, and eggs in a stand mixer. Add the activated yeast mixture and mix until combined.

Gradually add flour until a soft dough forms that pulls away from the bowl.

Turn the dough onto a floured surface and knead for about 8 minutes until smooth and elastic.

Place the dough in a greased bowl, cover it, and let it rise for approximately 1 hour.

Roll out the dough into a 15x12-inch rectangle and spread softened butter over it. Sprinkle brown sugar and cinnamon on top.

Roll tightly and slice into 15 equal pieces.

Arrange sliced rolls in the baking dish and allow them to rise for an additional 30–45 minutes.

Preheat oven to 375°F for baking.

Brush tops with milk if desired and bake for 20–25 minutes until golden brown.

Ensure they are soft and lightly browned on top.

Beat together cream cheese, butter, powdered sugar, vanilla, and salt until fluffy and smooth.

Allow rolls to cool slightly, then generously spread frosting over warm rolls.