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Sift the flour into a bowl and make a well in the center. Add sugar and yeast into the well, then pour in about 2–3 tbsp of lukewarm milk and mix slightly. Let it rest for 10 minutes until the yeast foams.
Add the salt, remaining milk, and butter. Knead the dough well until smooth. Cover and let rise in a warm place for 1 hour, or until it doubles in size.
Spread the soft butter evenly over the rolled-out dough. Sprinkle the brown sugar and cinnamon mixture evenly on top.
Roll the dough into a rectangle (about 20 x 30 cm) on a floured surface. Roll it up from the long side and cut it into 6 equal pieces. Place the rolls cut-side up in a greased baking dish. Cover and let them rise for another 30 minutes.
Before baking, brush the rolls with liquid cream. Alternatively, you can use melted butter.
Preheat the oven to 180 °C (350 °F). Bake the rolls for 20–25 minutes, or until the edges are golden brown.
For the frosting, mix cream cheese, cream, powdered sugar, and vanilla extract until smooth. Spread the frosting over the warm cinnamon rolls to let it soak in slightly.
Let the cinnamon rolls cool slightly before serving.