1 Make the dough: Warm the milk for 15 to 30 seconds in the microwave, until it’s slightly warm to the touch but not steaming. In the bowl of a stand mixer fitted with the dough hook, combine the warm milk, yeast, and sugar. Let the mixture stand until foamy, about five minutes.
Add the eggs, flour, and salt to the bowl and mix on medium speed until a sticky dough is formed. Beat in the butter, 2 tablespoons at a time, waiting until the butter is incorporated before adding the next batch. The butter needs to be very soft for this to work; if the butter isn’t incorporating, knead each piece in your fingers until soft before adding it to the dough.
Once all the butter is incorporated, knead the dough for 10 minutes on medium speed (or knead by hand).
2 Rise overnight: Shape the dough into a ball, place in a large, lightly oiled bowl, and cover with plastic wrap. Let the dough rise in the refrigerator overnight, at least 8 hours. It will slowly double in size.
3 Cut and shape the rolls: In the morning, remove the dough from the refrigerator. The dough will be quite stiff and firm, but should roll easily. Dust your work surface and a rolling pin lightly with flour, and roll the dough out into a rectangle approximately 12×16 inches in size.
Spread the dough with butter, leaving a 1-inch border on one of the shorter edges. Combine the brown sugar, cinnamon, and salt in a bowl. Sprinkle the mixture over the butter in an even layer.
Starting from the short edge (the one with butter all the way to the edge), roll the dough into a tight spiral. Pinch the spiral closed (the unbuttered edge should stick to the log of dough). Trim the ends if they are shaggy.
Cut the roll in half crosswise to make 2 pieces. Cut each piece in half again to make 4, and each piece again to make a total of 8 rolls. Place the rolls in a greased 9×13-inch baking dish.
4 Cover the rolls with plastic wrap, and let them rise in a warm place for 30 to 90 minutes. Rising time will depend on the temperature in your kitchen. When ready, the rolls should be puffed and pillowy. They should be touching each other with very little space between each roll.
5 While the rolls look half-risen, preheat the oven to 350°F.
6 Bake the rolls: Bake the rolls for 20 to 25 minutes until they are golden on top and puffy. Remove from the oven and cool on a rack for 5 minutes before frosting.
7 Make the frosting: While the rolls bake, use a hand mixer or stand mixer to beat the cream cheese and butter together until creamy. Add half of the powdered sugar and 1 tablespoon of milk. Beat for 1 minute. Add the remaining sugar and vanilla, and beat for 1 additional minute. Add additional milk, 1 tablespoon at a time, until the frosting is as spreadable as you like.
8 Serve warm: Frost the cinnamon rolls generously while they’re still a bit warm. Serve immediately.