Activate yeast with warm milk and sugar for 5-10 minutes till bubbly.
Add in eggs, butter, salt, and flour.
Mix together and knead for 5-10 minutes.
Place dough in greased bowl, cover and let rise till doubled in size, about an hour.
Make filling by mixing together 1 stick butter, brown sugar, and cinnamon.
Once dough in doubled in size, roll out into a rectangle, spread on filling. Roll up. Slice into 1-2 inch slices. Place on cookie sheet, cover, and let rise for another hour or so.
Preheat oven to 375°F.
Mix together icing ingredients for several minutes (stick of butter powdered sugar, cream cheese, and vanilla extract).
Pour heavy cream over dough before baking (optional).
Bake cinnamon rolls at 375°F for 13-15 minutes or until golden brown and baked through.
When still warm, spread frosting on top. Enjoy!
