Dissolve yeast in warm milk. In another bowl, combine sugar, butter, eggs, salt, yeast mixture and 2 cups flour; beat on medium speed until smooth. Stir in enough remaining flour to form a soft dough (dough will be sticky)., Turn dough onto a floured surface; knead until smooth and elastic, 6-8 minutes. Place in a greased bowl, turning once to grease the top. Cover and let rise in a warm place until doubled, about 1 hour., Mix brown sugar and cinnamon. Punch down dough; divide in half. On a lightly floured surface, roll 1 portion into an 11x8-in. rectangle. Brush with 2 tablespoons butter; sprinkle with half the brown sugar mixture to within 1/2 in. of edges. Roll up jelly-roll style, starting with a long side; pinch seam to seal. Cut into 8 slices; place in a greased 13x9-in. pan, cut side down. Cover with a kitchen towel. Repeat with remaining dough and filling. Let rise in a warm place until doubled, about 1 hour. Preheat oven to 350°., Bake until golden brown, 20-25 minutes. Cool on wire racks., For frosting, beat butter, cream cheese, vanilla and salt until blended; gradually beat in confectioners’ sugar. Spread over tops. Refrigerate leftovers.