In a small bowl, mix the warm water and sugar. Sprinkle the yeast over the top and let it sit for about 5-10 minutes until it becomes foamy. This step ensures your yeast is active.
In a large mixing bowl, combine the proofed yeast mixture, milk, and eggs. Stir until well combined. If you are using rapid rise yeast, just add the yeast to the flour.
Gradually add the flour, salt, cinnamon, and softened butter. Mix until a dough forms.
Knead the dough on a floured surface for about 8-10 minutes until it becomes smooth and elastic.
Place the dough in a greased bowl, cover it with a clean towel, and let it rise in a warm place for about 1-1.5 hours or until doubled in size. Let the dough rise for 45 minutes using rapid rise yeast.
While the dough is rising, mix the softened butter, brown sugar, cinnamon, and a dash of salt in a small bowl.
Once the dough has risen, punch it down to release any air bubbles.
Roll it out on a floured surface into a large rectangle, about 1/4-inch thick.
Spread the filling evenly across the surface of the dough, making sure to cover all of it.
Starting from the long edge, tightly roll up the dough into a log.
Using a knife or dental floss, slice the rolled dough into 12 even pieces.
Arrange the rolls in a greased baking dish, leaving a little space between each one to allow for rising.
Cover the dish and let the rolls rise for another 30-45 minutes until they have doubled in size.
Preheat your oven to 375°F (190°C).
Bake the rolls for about 17-20 minutes or until they are golden brown on top and cooked through. I check for doneness by carefully lifting up the center of the cinnamon roll that is placed in the middle of the pan. This will show if the center is still doughy or fully cooked.
While the cinnamon rolls are baking, make the frosting by beating the softened cream cheese, butter, powdered sugar, vanilla, milk, and salt together until smooth and creamy.
Once the cinnamon rolls come out of the oven, let them cool.
Once cooled, spread the frosting generously over the cinnamon rolls.
Serve immediately and enjoy!