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Combine the warm milk and yeast and let it sit for 5 minutes until foamy
Add the melted and cooled butter, sugar, eggs, salt, and bread flour
Knead the dough on low for 5 minutes until it's stretchy and soft
Let the dough rise until doubled in size
Make the filling by mixing the softened butter, cinnamon, and brown sugar
Roll out the dough into a large rectangle and spread the filling evenly
Roll up the dough tightly and cut into 12 rolls
Place the rolls in a buttered 9x13 dish and let rise
Bake at 375°F for 25 minutes, pouring the heavy cream over the rolls
Make the frosting by beating the softened butter and cream cheese
Add the maple extract, vanilla extract, and powdered sugar to the frosting
Spread the frosting over the cooled cinnamon rolls