In a bowl, whisk flour, sugar, salt, and yeast. Set aside.

In another bowl, whisk together milk, butter, and eggs.

Combine dry and wet mixtures together. Knead dough thoroughly until dough ball forms. Cover and let rise for approximately 1 hr at room temperature.

Prepare filling by mixing butter, sugar, cinnamon, and vanilla extract together. Set aside.

Preheat oven to 350F.

Roll out dough into a rectangle and spread filling mixture on top.

Take a long edge of the rectangle and roll the dough up tightly into a log.

Place the log seam side down. Cut and divide the dough into sections. Arrange onto baking tray with the cut side up.

Bake for approximately 25 mins.

Whisk cream cheese, butter, vanilla, and salt together. Gradually add in icing sugar and whisk until icing thickens.

Let rolls cool and drizzle icing on top.