In a large bowl, combine warm milk, 1/4 cup granulated sugar, and yeast. Let stand for 5-10 minutes until foamy.
Add melted butter, eggs, and salt to the yeast mixture.
Gradually add sifted flour, mixing until a soft dough forms.
Turn dough onto a floured surface and knead for 8-10 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise in a warm place for 1-1.5 hours until doubled in size.
In a small bowl, mix 1 cup granulated sugar and cinnamon for the filling.
Punch down the risen dough and roll it out into a large rectangle (about 12×18 inches) on a lightly floured surface.
Spread the softened butter evenly over the dough, leaving a small border.
Sprinkle the cinnamon-sugar mixture evenly over the buttered dough.
Roll up the dough tightly, starting from one of the long sides.
Cut the roll into 12 equal slices.
Place rolls cut-side up in a greased 9×13 inch baking pan.
Cover and let rise for another 30-45 minutes.
Preheat oven to 350°F (175°C).
Bake for 25-30 minutes, or until golden brown and cooked through.
While rolls are baking, prepare the frosting: In a medium bowl, beat softened cream cheese until smooth. Add melted butter, 1/4 cup milk, vanilla extract, and confectioners’ sugar. Beat until smooth and creamy.
Once rolls are baked, let them cool slightly in the pan before spreading the frosting over the warm rolls.