Warm the milk in a small saucepan to 110 degrees F. Transfer the milk to the bowl of an electric mixer fitted with the whisk attachment. (Alternatively, you can make everything by hand). Stir in the yeast and add a pinch of sugar. Allow to sit for 5 minutes.
While on low speed, add ¼ cup of sugar, salt, eggs, and melted butter - mix until well incorporated. Change out the whisk attachment for the dough hook and while on low speed gradually add the flour. Continue to mix on low speed for 2 -3 minutes. (The dough should be soft and slightly tacky, but not so much that the dough sticks to your hands).
Transfer the dough to a large, lightly oiled bowl and cover with a tea towel. Allow to rise for 1 hour in a warm place, until doubled in volume.
In the meantime, prepare the filling. In a clean bowl of an electric mixer, add the softened butter, brown sugar, and cinnamon. Using the paddle attachment mix on medium speed until smooth.
To make the icing, add the cream cheese, confection sugar, half and half, and vanilla extract to a clean mixing bowl of an electric mixer fitted with a paddle attachment. Beat on low speed for 3 - 4 minutes until soft.
Preheat the oven to 350 degrees F.
Turn out the dough onto a lightly floured surface and cut in half. Working with one half at a time, roll out the dough to ¼-inch thick, about 10x17 inches. Spread the filling evenly over the dough and then roll up from the shorter side to form a log. Cut the log into 1½ inch sections. Lay the rounds into a lightly oiled baking pan. (It's ok if they're lightly touching, but don't cram them in). Repeat with the remaining piece of dough. Allow the rolls to rise in the pan for 15 - 20 minutes.
Bake the cinnamon rolls for 20 - 25 minutes, or until golden brown. Remove from the oven and drizzle the icing evenly over the top. Serve and Enjoy!