Warm the milk to about 110°F—similar to warm bath water. Make sure it's not too hot, as this could kill the yeast. Add the yeast and sugar to the warm milk in a mixing bowl and let it sit for 2-3 minutes until the yeast activates and bubbles appear. Then, mix in the eggs, melted butter, and a pinch of salt.
Gradually stir in the flour, about a cup at a time, until a dough begins to form. If you're using a stand mixer, attach the dough hook and knead on medium speed for 8 minutes. The dough should be slightly sticky but pull away from the sides of the bowl. If it's too sticky, add a little more flour. If you're kneading by hand, work the dough on a well-floured surface for 8-10 minutes.
Transfer the dough to a well-oiled bowl, cover with a warm towel or plastic wrap, and let it rise for 1 to 1 ½ hours, or until it's doubled in size. The rise time may vary depending on your kitchen's temperature and humidity.
Once the dough has doubled in size, punch it down and transfer it to a floured surface. Roll the dough into a 14x9-inch rectangle.
Spread softened butter evenly over the dough, leaving a small border at the edges.
In a separate bowl, mix together the brown sugar and cinnamon. Sprinkle this mixture evenly over the buttered dough, then use your hands to rub the cinnamon-sugar into the butter for a well-combined filling.
Starting from the 9-inch side, tightly roll the dough into a log. Pinch the seam to seal, then cut the dough into 9 even pieces using a serrated knife or dental floss.
Place the cinnamon rolls into a greased 9x9-inch baking pan (or a well-buttered cast iron skillet). Cover with a towel and let the rolls rise for another 30-45 minutes, or until they’ve puffed up nicely.
Preheat your oven to 350°F and bake the rolls for 20-25 minutes. They should be slightly golden on the edges but still soft in the center.
Once baked, let the rolls cool for 5-10 minutes before frosting.
For the frosting, beat the cream cheese, butter, powdered sugar, and vanilla in a mixing bowl until smooth and creamy. Spread the frosting generously over the warm cinnamon rolls, and enjoy!
Notes
When I'm making these in a cast iron pan, I tend to cut them into 8 cinnamon rolls. If you're using a square 8x8 pan, opt for 9 so you can do a 3x3 grid.Yeast: If you're using instant or quick-rise yeast, you don’t need to proof it in the warm milk. Simply add it directly to the mixture. If you use active dry yeast, you’ll need to dissolve it in warm milk until it bubbles before proceeding.Overnight Cinnamon Rolls: If you want to prepare these ahead of time, you can assemble the rolls, let them rise once, and refrigerate overnight. In the morning, let them come to room temperature before baking.
Freezing Cinnamon Rolls
Before Baking: After the first rise, roll the dough, fill it, and cut it into rolls. Place the rolls in a greased pan, cover, and freeze. When you're ready to bake, let them thaw in the fridge overnight. Then, bring them to room temperature and bake as directed.After Baking: You can freeze the baked cinnamon rolls too! Allow them to cool completely, then store in an airtight container or freezer bag. To reheat, let them thaw at room temperature, then warm in the oven at 350°F for 10-15 minutes.