Step 1

Place 1 cup warm whole milk in a stand mixer, sprinkle with 1 (1/4-ounce) packet instant yeast, and stir to combine. Let sit for a few minutes until foamy (if the yeast doesn't foam, it has expired and you should get new yeast and start over).

Step 2

Add 4 1/2 cups bread flour, 2 large room temperature eggs, 6 tablespoons melted unsalted butter, 1/2 cup granulated sugar, and 1 3/4 teaspoons kosher salt. Mix with the dough hook attachment on low speed until combined, about 1 minute.

Step 3

Increase the speed to medium and mix until the dough is elastic and smooth, and pulls away from the sides of the bowl, 5 to 10 minutes more. After 5 minutes, if the dough is still sticky, knead in more bread flour 1 tablespoon at a time as needed.

Step 4

Coat a large bowl with cooking spray. Transfer the dough into this bowl and turn to coat in the cooking spray. Cover and let rise in a warm place until visibly puffed (does not need to double in bulk), 1 to 1 1/2 hours. Meanwhile, make the filling.

Step 5

Stir and smash 1 stick very soft unsalted butter, 1 cup packed dark brown sugar, 2 tablespoons ground cinnamon, and 1/2 teaspoon kosher salt together with a fork in a medium bowl until a paste with no loose cinnamon or sugar forms.

Step 6

Coat a 9x13-inch baking dish with cooking spray. Line the bottom with a sheet of parchment, then spray the parchment and sides of the baking dish with cooking spray.

Step 7

Lightly dust a work surface and rolling pin with flour. Gently punch the dough down. Transfer onto the work surface and lightly dust the top with flour.

Step 8

Roll the dough out into a rough 12x24-inch rectangle (about 1/8-inch thick), with a longer side closer to you. Drop the filling in marble-size pieces all over the dough, then spread into an even layer as best you can with a small offset spatula, leaving a 1/2-inch border.

Step 9

Starting at the long end closest to you, roll the dough up tightly into a log. Pinch the seam tightly together at the top.

Step 10

Position the log seam-side down. Cut the dough crosswise into 12 pieces with a serrated knife. Place the pieces cut-side up in the baking dish, 4 across and 3 down the dish, spacing them evenly apart.

Step 11

Coat a sheet of plastic wrap with cooking spray, then cover the baking dish with the wrap spray-side down. Let rise in a warm place until the rolls are just touching each other, 1 to 1 1/2 hours. About 20 minutes before the rolls are ready, heat the oven to 375ºF.

Step 12

Uncover and bake until the rolls are light golden brown, puffed, and register at least 200ºF in the parts not touching the filling, 20 to 25 minutes. Let cool slightly while you make the frosting.

Step 13

Beat 4 ounces room temperature cream cheese, 2 tablespoons room temperature unsalted butter, 1/2 teaspoon vanilla extract, and 1/8 teaspoon kosher salt with the paddle attachment in a stand mixer on medium speed until smooth and lightened in texture, about 2 minutes.

Step 14

Add 1 1/2 cups powdered sugar and beat on the lowest speed until just combined. Increase the speed to medium-high and beat until fluffy and creamy, scraping down the sides of the bowl as needed, about 2 minutes more.

Step 15

Spread the desired amount of frosting evenly over the still-warm cinnamon rolls. Let cool for at least 10 minutes more before serving warm with any remaining frosting.