To the bowl of a stand mixer, add the warm milk sprinkle the yeast over the top.
Add the eggs, butter and sugar. Mix until combined.
Add in salt and 4 cups (save the other 1/2 cup and add only if you need it) of flour and mix using the beater blade just until the ingredients are barely combined.
Scrape the dough off the beater blade and remove before attaching the the dough hook.
The dough should be tacky and will still be sticking to the sides of the bowl.
Allow to “knead” until smooth and elastic, about 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.
In a smaller bowl, Mix brown sugar and cinnamon.
Once the dough has doubled, punch down dough
On a lightly floured surface, roll into an 11x8-in. rectangle.
Brush with butter; sprinkle with 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 8-12 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°F.
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.