For Dough

in a measuring cup combine warm milk and yeast. Set aside for 5-10 minutes (until yeast is nice and foamy)

In bowl of stand mixer combine sugar, butter, salt, eggs and flour. Mix on low with the paddle attachment until well combined. Mixture will look dry and sandy and have some lumps that aren't completely mixed in. This is OK!. Scrape bowl down.

Change to dough hook and with mixer running on low, slowly pour in yeast/milk mixture in a steady stream. Scrape the bowl a couple of times while continuing to mix on low until dough is a solid mass and no longer sticks to the sides of the bowl. Increase speed one notch and continue beating 30 seconds.

Dough will look sticky but this is normal for this dough. If it's completely unmanageable you can add a couple tablespoons of flour, but no more than that.

Scrape dough into a lightly oiled bowl, cover with a clean towel and place in a warm, draft free place to rise for one hour or until doubled.

While Dough Rises

While dough rises make the filling by combining brown sugar, cinnamon and salt in a small bowl.

Bring butter to room temperature.

Roll and shape

Have your prepared pans ready (see notes for sizes) and lined with parchment

Punch down risen dough and scoop out of bowl onto floured surface.

Knead a couple of times with floured hands and divide in half. Set one half aside and cover with cloth while you shape the other half.

Roll dough half into a rectangle approximately 12 inches wide by 16 inches deep. It should be about 1/3 inch thick. The exact dimensions aren't as important as the thickness.

Take half of the butter and tear it into little pieces, evenly arranging over the rolled out dough. Using an offset spatula or your fingertips, evenly spread the butter over the dough.

Spread half of the brown sugar/cinnamon mixture over the buttered dough leaving about 1/2 inch border all around.

Starting at the edge closest to you, begin rolling the dough into a log away from you. Try not to stretch the dough too much but keep it nice and snug so that it's a tight roll. When you get close to the end it's ok to pull the last couple inches up and over the log so that you can pinch to seal it on top.

dust the counter directly in front of the log with a little flour and roll the log back towards you, onto the floured area, so that the seam is on the bottom (this will help it to not stick when you slice it).

Cut the log into 4 even sections using a bench scraper or knife (I push straight down quickly rather than try to cut back and forth. You'll get a cleaner cut and if it squishes a little you'll be able to reshape it in your pan)

Cut each section into 3 slices, for 12 slices total. Arrange in pan according to the type of roll you want (see notes)

Repeat with remaining dough. Cover pans with a clean towel and let rise again in a warm place about 45 minutes, or until 1 1/2 times their original size.

Bake roll in a preheated 350° f oven 20-25 minutes, or until buns are lightly golden and center is done. Check at 20 minutes. Center should be 180-190° f on an instant read thermometer.

Remove from oven and place on rack to cool slightly while you make the icing

Icing

With electric mixer beat butter until smooth. Add vanilla and salt, beating to combine. Add cream cheese in several pieces and beat just until smooth and completely combined. Gradually beat in powdered sugar on low (so that it doesn't end up all over your kitchen!) until everything is smooth. Don't overbeat or your icing will get runny.

Spread icing on cinnamon rolls and enjoy! I prefer to ice them when they're still a little warm so that some of the icing melts into the buns and the rest stays in a layer on top.