In a large bowl, combine warm milk, sugar, and yeast. Let stand for 5 minutes until foamy.

Add melted butter, salt, and 2 cups of flour. Mix until combined.

Gradually add the remaining flour, mixing until a soft dough forms. Knead on a lightly floured surface for 5-7 minutes until smooth.

Place dough in a greased bowl, turning to coat. Cover and let rise in a warm place for 1 hour, or until doubled in size.

On a lightly floured surface, roll out the dough into a 12x15-inch rectangle.

Spread softened butter evenly over the dough. Sprinkle with brown sugar and cinnamon.

Roll up the dough tightly. Cut into 12 equal rolls.

Place rolls in a greased baking dish. Cover and let rise for 30 minutes.

Preheat oven to 375°F (190°C). Bake for 20-25 minutes, or until golden brown.

While rolls are baking, make the frosting by beating cream cheese, butter, powdered sugar, vanilla, and salt until smooth.

Let rolls cool slightly before frosting.

Spread frosting generously over warm rolls. Serve immediately.