Warm milk to 110°F (43°C). Combine with melted butter, sugar, eggs, and salt in the mixer bowl.
Add instant yeast and 3 cups flour. Mix on low until shaggy. Add remaining flour and mix on medium for 6 minutes until smooth and slightly tacky.
Place in a greased bowl, cover, and rise in a warm spot for 60 minutes until doubled.
Mix softened butter, brown sugar, cinnamon, and salt into a thick paste for the filling.
Roll dough into an 18x12 inch rectangle. Spread filling to the edges, leaving a ½-inch border along the far long edge.
Roll tightly into a log, pinch the seam, and cut into 12 pieces with a bench scraper.
Place cut-side up in a greased 9x13 inch pan. Cover loosely and rise 30 minutes.
Bake at 350°F (175°C) for 23 to 25 minutes until center rolls read 190°F (88°C).
Beat cream cheese smooth. Add powdered sugar, vanilla, and 3 tablespoons milk. Stir until pourable.
Pour glaze over rolls 5 minutes out of the oven. Serve warm from the pan.