Heat the milk in a small saucepan until it reaches 110°F, then pour over yeast in a mixing bowl and sprinkle with sugar. Let sit for 10 minutes until foamy.

In a large mixing bowl, sift together flour, sugar, and salt. Create a well in the center and add the yeast mixture, eggs, and butter. Mix until a dough forms, then knead for 5-7 minutes.

Preheat your oven to 200°F and then turn it off. Place the dough in a greased bowl, cover, and let rise in the warm oven for about 1 hour.

Prepare the filling by mixing softened butter, brown sugar, and cinnamon until smooth.

Once risen, roll out the dough into a rectangle, spread the filling, and roll into a log. Slice into 12 rolls and place in a greased pan.

Cover with plastic wrap and let rise at room temperature for 20 minutes. Pour heavy cream around the rolls.

Preheat oven to 375°F and bake the rolls for 28-30 minutes until golden brown.

Prepare the cream cheese glaze by beating cream cheese and butter until smooth, then mix in powdered sugar and vanilla.

Drizzle the glaze over warm rolls to melt into them.