Gently warm the milk to 110°F (lukewarm bath temp.) Pour milk into a large bowl with the yeast, sugar, salt, and melted butter. Stir to combine and dissolve yeast.
Mix in the flour until a soft dough forms. (You may have to add a little extra flour if dough is too sticky. Should be slightly tacky without being overly sticky). Cover bowl with a towel or wax paper and set in a warm place to rise until doubled, about 1 hour.
When dough is almost done rising, melt the Cinnamon Filling's butter (1/2 cup butter). Combine brown sugar and cinnamon in a bowl and set aside.
Spread Cinnamon Filling's melted butter evenly across the top surface. Evenly sprinkle cinnamon sugar mix over dough. Beginning with the longer side facing you, use both hands to roll the dough into a log. Slice the log into 12 even sections, approx. 1 1/2" wide.
Lightly butter a 9"x11" baking dish. Place the rolls cut side up in the buttered baking dish leaving space in-between the rolls for room to rise. Cover and allow to rise until doubled (about 30 minutes in a warm place.)
While rolls rise preheat oven to 375°F.
Bake the rolls for about 20 minutes or until golden and cooked through. Remove from oven and allow to cool slightly.
While cinnamon rolls are cooling, make the icing. Combine the cream cheese, powdered sugar, and milk in a bowl and whisk until smooth. Pour icing over warm cinnamon rolls and serve.