Warm the milk in the microwave for 1 minute until it reaches 110°F. Pour into a bowl and pour the yeast on top. Let it sit for 10 minutes.

In a large mixing bowl, mix the flour, sugar, and salt. Cube the butter and add to the flour mixture. Use a pastry cutter or 2 forks to blend the butter into the dry ingredients until it is the size of a pea.

Pour the milk and lightly beaten eggs on top of the flour mixture. Using a dough hook, mix the on low speed until a dough starts to form. Switch to medium and knead for 5 minutes. *by hand instructions in notes. If the dough is too wet after kneading, add another ¼ cup of flour and knead it in. The dough should be tacky, but not stick to your hands.

Preheat the oven to 200°F. Spray a large bowl with nonstick spray. Place the dough in the bowl and cover with a kitchen towel. Place in the oven and turn off the oven and crack open the door. Let it rise for 1 hour until doubled in size.

Using a mixer, beat the butter, brown sugar, cinnamon and salt until smooth. Set aside.

Roll the dough out on a lightly floured surface using a rolling pin. Roll until ¼ inch thick and it is a large rectangle.

Spread the filling on top of the dough using an offset icing spatula.

Roll the dough starting on the short side to create a log. Use a serrated knife to cut off the ends. Use a measuring tape to cut the dough into 6 equal pieces using a light sawing motion to not to squish the dough.

Spray a 9X13 inch pan with baking nonstick spray. Place the cinnamon rolls into the pan and cover with a kitchen towel. Let rise for 20 minutes. Pour the heavy cream into the bottom of the pan.

Preheat the oven to 375°F. Bake the rolls for 22-28 minutes until the tops of the rolls are lightly golden brown.

Make the icing while the rolls are baking. Using a mixer, beat the butter and cream cheese on high for 2 minutes. Add in the vanilla and sifted powdered sugar and mix until smooth on low. Add in the milk and beat on high until smooth.

Spread the icing on top of the rolls while the rolls are hot, this will let the icing melt into all the cracks. Use a spoon to spread the icing on.