Pour the warm milk into a bowl and sprinkle the yeast over top. Allow this to sit for 3-4 minutes until frothy.

Add the room temperature eggs, butter, and sugar. Mix until combined.

Add in salt and 4 cups of flour (save the other ½ cup) and mix until barely combined. Let the mixture rest for 5 minutes.

Attach the dough hook and knead the dough on medium speed for 5-7 minutes, adding up to ½ cup more flour if needed to form dough.

Spray a large bowl with cooking spray. Remove the dough from the mixer and place it in the greased bowl. Cover with a towel or wax paper.

Set the bowl in a warm place to rise until doubled, about 30 minutes.

Prepare the cinnamon filling by combining the soft butter, brown sugar, and cinnamon in a medium bowl.

Sprinkle a work surface with flour. Turn out the dough onto the surface and sprinkle the top with additional flour.

Roll the dough to about a 24×15" rectangle.

Smooth the cinnamon filling over the whole dough rectangle.

Roll the dough up tightly from the long side and cut into 12 slices. Place in a greased 9×13 baking pan.

Cover the pan and allow the rolls to rise for 20 minutes while preheating the oven to 375ºF.

Warm the heavy cream until it is just warm to the touch. Pour it over the risen rolls.

Bake in the preheated oven for 25 minutes, or until lightly golden brown and cooked through. Check at 20 minutes and cover loosely with foil if browning too much.

While cooling, prepare the frosting by combining softened cream cheese and butter. Blend well.

Add the extract and powdered sugar. Beat until combined, then spread over the cooled rolls.