Warm 1 cup of milk, careful not to make too hot. Dissolve the yeast and allow it to sit for 5 minutes. The yeast will proof and become foamy. If not try it again, the yeast may be bad or the milk too hot.
Using a stand mixer with a dough hook, add the 1/2 cup granulated sugar, 1/3 cup softened butter, 1 teaspoon salt, 2 eggs, 4 cups flour, and mix until well combined.
Add the milk-yeast mixture to the sugar mixture and mix well until combined and the dough has formed.
Lightly oil a large bowl or spray with non-stick cooking spray, add the dough, and allow to rise in a warm place for 1 hour or until the dough has doubled in size
In a small bowl, stir together the brown sugar and cinnamon until combined.
Prepare a 9x13-inch baking dish by spraying with non-stick cooking spray.
Lightly flour a clean surface and roll out the dough into an even rectangle about 1/4 inch thick.
Evenly spread 1/3 cup softened butter over the dough and sprinkle with the cinnamon sugar mixture.
Working from the long edge of the rectangle, carefully roll the dough from the top edge to the bottom edge.
Using a knife or floss, cut the dough into even 1 1/2 inch thick slices and place into the prepared baking dish.
Cover with a clean kitchen towel and allow to rise for 30 minutes or until double in size.
Preheat the oven to 350 degrees F. and place the baking pan in the oven to bake for 20 minutes or until bubbly and golden brown.
Make the cream cheese icing using a mixer by combining the 6 tablespoons butter, powdered sugar, cream cheese, and vanilla extract until mixed well.
Spread the icing generously over the top of each cinnamon rolls.
Serve while warm and store in an airtight container in the refrigerator up to 4 days.