Activate the Yeast: In a small bowl or measuring cup, combine the warm milk with a pinch of granulated sugar. Sprinkle the instant yeast over the top and let it sit for about 5–10 minutes until it becomes foamy.

Prepare the Dough: In a large mixing bowl, combine the 3.5 cups of all-purpose flour, the remaining granulated sugar, and the salt. Add the activated yeast mixture, the melted butter, and the 2 eggs. Mix everything together until a shaggy dough forms.

Knead the Dough: Turn the dough out onto a lightly floured surface. Knead for about 8–10 minutes, or until the dough is smooth, elastic, and no longer sticky. If using a stand mixer, use the dough hook attachment and mix on medium-low speed for about 6–8 minutes.

First Rise: Lightly grease a clean bowl. Place the kneaded dough into the bowl, turning it once to coat all sides with a little oil. Cover the bowl tightly with plastic wrap or a clean kitchen towel. Let the dough rise in a warm place for 1–1.5 hours, or until it has doubled in size.

Prepare the Filling: While the dough is rising, prepare your filling. In a medium bowl, combine the 1/2 cup of softened butter with the 1 cup of packed dark brown sugar and the 1 tablespoon of ground cinnamon. Mix until well combined and spreadable.

Shape the Rolls: Once the dough has doubled, gently punch it down to release the air. Turn the dough out onto a lightly floured surface and roll it into a rectangle, about 12 inches by 16 inches. Spread the brown sugar cinnamon filling evenly over the surface of the dough, leaving a small border along one of the long edges.

Roll and Slice: Starting from the long edge with the filling all the way to the edge, tightly roll up the dough, jelly-roll style. Pinch the seam to seal it. Use a sharp knife or dental floss to slice the log into 12 equal rolls.

Second Rise: Arrange the sliced rolls, cut-side up, in a greased 9×13 inch baking pan. Cover the pan loosely with plastic wrap and let the rolls rise again in a warm spot for another 30–45 minutes, or until they look puffy.

Bake the Rolls: Preheat your oven to 350°F (175°C). Remove the plastic wrap from the rolls and bake for 20–25 minutes, or until they are golden brown on top and cooked through.

Make the Glaze: While the rolls are baking or cooling slightly, prepare the glaze. In a medium bowl, beat together the 4 oz of softened cream cheese, 1/4 cup of softened butter, and 1 teaspoon of vanilla extract until smooth. Gradually add the 1.5 cups of powdered sugar, alternating with the 2 tablespoons of milk, beating until the glaze is creamy and pourable. Add a tiny bit more milk if needed to reach your desired consistency.

Glaze and Serve: Once the rolls are out of the oven, let them cool in the pan for about 10–15 minutes. Drizzle the cream cheese glaze generously over the warm rolls.