For the Dough:

1. In a sizable mixing bowl or a stand mixer with a dough hook, combine the warm milk, granulated sugar, and yeast. Allow it to sit until it becomes foamy, which should take about 5 minutes.
2. Incorporate the remaining ingredients, mixing on low speed until the mixture begins to combine. Then, increase to medium-low speed and knead until the dough is springy and slightly tacky, without sticking to your fingers, for approximately 8 to 10 minutes.
3. Move the dough to a large bowl that has been lightly oiled. Cover it and let it rise in a warm area (around 75F) until it has doubled in size, which will take about 1½ to 2 hours.
4. Grease a 9×13-inch baking pan lightly with butter or baking spray.
5. Place the dough onto a floured surface and roll it out into a rectangle measuring roughly 12×24 inches.

For the Filling:

1. Evenly spread the softened butter over the dough, ensuring to leave a ½-inch border along one long edge. (Ensure your butter is very soft; if it’s too firm, microwave it in 5-second bursts until it can be easily spread.)
2. Mix the sugar and cinnamon in a small bowl, then sprinkle this mixture over the buttered surface.
3. Starting from the long edge opposite the unbuttered side, roll the dough tightly into a log. Slice the log into 12 equal sections (about 2 inches wide) using a sharp serrated knife or unflavored dental floss.
4. Arrange the rolls cut side down in the prepared baking dish, spaced evenly apart. Cover loosely and allow them to rise in a warm location until they are nearly doubled in size, which should take about 1 hour.
5. While the rolls are rising, preheat the oven to 350F.
6. Once risen, uncover the rolls and bake for 20 to 25 minutes or until they are lightly browned on top. Transfer them to a wire rack to cool.

For the Glaze:

1. While the rolls bake, mix the cream cheese, butter, vanilla, and salt in a medium bowl. Beat on medium speed until smooth. Gradually sift in the powdered sugar and mix on low speed until combined. If you desire a thinner glaze, add 1 to 2 tablespoons of milk.
2. As soon as the rolls come out of the oven, apply a third of the glaze over the warm rolls. Allow them to cool for 5 minutes, then add the remaining glaze on top. These rolls are best served warm but can be stored at room temperature for up to 2 days.