BEST Homemade Cinnamon Rolls

Instructions

1. 1
   In a large bowl, whisk together warm milk, yeast, and 1 tablespoon sugar. Let stand until foamy, about 5 minutes.
2. 2
   Add eggs, remaining sugar, softened butter, and salt. Mix in 3 cups of flour, adding the fourth cup gradually, until a soft dough forms.
3. 3
   Knead dough by hand or with a dough hook for 6 to 8 minutes, until smooth and elastic.
4. 4
   Place dough in a greased bowl, cover, and let rise in a warm place until doubled, 1 to 1.5 hours.
5. 5
   Roll the dough out into a 16x12-inch rectangle on a floured surface. Spread with softened butter, brown sugar, and cinnamon.
6. 6
   Roll up tightly from the long side, slice into 12 even pieces, and transfer to a buttered 9x13-inch dish.
7. 7
   Cover and let rise once more for 30 to 40 minutes, until puffy.
8. 8
   Bake at 350°F (175°C) for 23-28 minutes, until lightly golden.
9. 9
   While baking, beat cream cheese, butter, powdered sugar, vanilla, and salt for the frosting.
10. 10
    Spread frosting generously over the warm rolls and serve!