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

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

Gradually add the remaining flour, mixing until a soft dough forms.

Knead the dough on a lightly floured surface for 5-7 minutes until smooth and elastic.

Place the 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 12x16 inch rectangle.

Spread the softened butter evenly over the dough.

In a small bowl, combine brown sugar and cinnamon. Sprinkle evenly over the butter.

Roll up the dough tightly, starting from one long side.

Cut the roll into 1-inch slices. Place the rolls in a greased 9x13 inch 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 the rolls are baking, make the icing. In a medium bowl, beat together cream cheese, butter, powdered sugar, vanilla extract, and milk until smooth.

Let the rolls cool slightly before drizzling with icing.