In a small bowl, combine warm milk, yeast, and a teaspoon of sugar. Let sit for 5-10 minutes until frothy.

In a large bowl, mix warm milk, sugar, eggs, flour, and salt. Stir in the yeast mixture to create a soft dough.

Transfer dough onto a floured surface, knead for about 5 minutes. Gradually add cubed butter and knead for an additional 15 minutes until shiny.

Shape the dough into a ball, place in a greased bowl, cover with a towel, and let rise for 1-2 hours until doubled.

Deflate dough and reshape into a ball. Wrap in plastic and refrigerate overnight.

Roll out chilled dough into a rectangle, spread softened butter, and top with brown sugar and cinnamon. Roll tightly and cut into 12 pieces.

Arrange rolls in a greased baking dish, cover, and let rise for an hour until puffy.

Preheat oven to 350°F (180°C). Bake rolls for 28-30 minutes until golden brown.

In a bowl, beat together cream cheese, confectioners' sugar, vanilla, and milk until smooth.

Drizzle glaze over warm rolls before serving.