1. In a large mixing bowl, combine 2 cups of flour and yeast.
2. In a saucepan, heat milk, butter, sugar, and salt until warm (120-130°F).
3. Add milk mixture to flour mixture; add eggs. Beat on low for 30 seconds, then on high for 3 minutes.
4. Stir in remaining flour to make a soft dough. Knead on a floured surface until smooth (about 5 minutes).
5. Place dough in a greased bowl, cover, and let rise until doubled (about 1 hour).
6. Punch dough down. Roll into a 12x8 inch rectangle. Spread with softened butter.
7. Combine brown sugar and cinnamon; sprinkle over buttered dough.
8. Roll up dough and cut into 12 slices. Place in a greased baking dish. Cover and let rise until doubled (about 30 minutes).
9. Bake at 375°F for 25 minutes or until golden brown.
10. For icing, beat cream cheese, butter, powdered sugar, vanilla, and milk until smooth. Spread over warm rolls.