Grandma's Homemade Cinnamon Rolls

Ingredients

• 1 cup (240ml) whole milk, warmed to 110-115°F (43-46°C)
• 2 ¼ teaspoons (7g) active dry yeast (1 packet)
• ¼ cup (50g) granulated sugar, plus 1 teaspoon for proofing
• ½ teaspoon (3g) salt
• ¼ cup (57g) unsalted butter, melted
• 2 large eggs, lightly beaten
• 3 ½ cups (420g) all-purpose flour, plus more for dusting
• ½ cup (113g) unsalted butter, softened
• ¾ cup (150g) packed brown sugar
• 2 tablespoons (16g) ground cinnamon
• 4 ounces (113g) cream cheese, softened
• ¼ cup (57g) unsalted butter, softened
• 2 cups (240g) powdered sugar, sifted
• 1 teaspoon (5ml) vanilla extract
• 2-4 tablespoons milk, or heavy cream