In a large mixing bowl, combine warm milk, eggs, softened butter, all-purpose flour, salt, sugar, and rapid rise yeast. Mix until well combined and knead until smooth.

Transfer the dough to an oiled bowl, cover and let it rise in a warm place for about 60 minutes or until doubled in size.

Punch down the dough, roll it into a rectangle, and spread a layer of softened butter over it.

Sprinkle brown sugar and ground cinnamon over the butter, then roll the dough tightly and slice it into 12 pieces.

Place the sliced rolls in a greased baking pan, cover, and let them rise for 30 minutes.

Preheat the oven to 400°F (200°C) and bake the rolls for 15 minutes or until golden brown.

Beat together cream cheese and butter until smooth, then gradually add confectioner’s sugar and vanilla extract for icing.

Let the rolls cool for 10 minutes, then frost with icing and enjoy!