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In a stand mixer bowl, Combine the warm milk, yeast and 1 tbsp from the ¼ cup of sugar. Let it sit for 5-10 minutes until foamy. Once foamy, add the remaining sugar, eggs, melted butter and vanilla.
Start mixing and add the bread flour and salt. Knead with the dough hook for about 10 minutes on low-medium speed. The dough should be very soft and slightly tacky, not dry.
Cover and let rise for 2 hours or until doubled in size. I like to let it rest inside the microwave.
Once the dough is ready, in a separate bowl, mix the softened butter, brown sugar and heavy cream for the bottom and spread into a 9x13inch baking dish.
In a separate bowl, mix softened butter, cinnamon, brown sugar and pinch of salt until smooth and well combined.
Roll the dough into an 18x14inch rectangle. Spread the cinnamon mixture. Roll tightly from the long side and cut into 8-10 rolls.
Place the rolls into the prepared pan, cover with plastic wrap and let rise for 1 hour.
Preheat oven to 350°F. Pour the warm heavy cream around and between the rolls. Bake for 26-30 minutes until lightly golden and just cooked through. Don’t overbake!
Beat all frosting ingredients until creamy (make sure the cream cheese is very soft, not melted), then spread the frosting all over while they’re still warm and enjoy!