Dough Preparation: Mix warm milk, 2 Tablespoons sugar, and yeast in a large mixer bowl (use a dough hook or paddle attachment). Leave for about 5 minutes until foamy. If you lack a mixer, use a large mixing bowl and blend using a wooden spoon or spatula. Add the remaining sugar and butter, followed by the eggs and salt. Gradually incorporate the flour until the dough forms and detaches from the bowl edges.
Kneading: Either knead in the mixer for about 5 minutes or do it manually on a floured surface for the same duration. The dough should be soft and bounce back when poked.
First Rise: Grease a bowl, place the dough, ensuring it's coated with oil. Cover and let it double in size for 2 hours.
Preparation for Filling: Roll out the risen dough on a floured surface into a 12x18-inch rectangle. Spread softened butter, then sprinkle a mixture of sugar and cinnamon.
Forming the Rolls: Roll the dough into an 18-inch-long log, slice into 12 equal parts, and arrange in a prepared baking dish.
Second Rise (or Overnight Option): Let the rolls rise for an hour or use the overnight method as detailed in the notes.
Baking: Preheat your oven to 350°F (177°C). Bake the rolls for 25-28 minutes, shielding with foil after 15 minutes to avoid over-browning.
Frosting and Serving: Prepare the cream cheese icing by blending all ingredients until smooth. Smear over warm rolls.