In a large bowl, dissolve yeast in warm milk and let it sit for 5 minutes until foamy. Add flour, sugar, and salt to the yeast mixture, then mix until a soft dough forms.

Knead the dough on a lightly floured surface for 5-7 minutes until smooth and elastic. Place the dough in a greased bowl, cover, and let it rise in a warm place for 1-1.5 hours, or until doubled in size.

Roll out the risen dough into a 12x18 inch rectangle. Spread softened butter evenly over the dough, leaving a small border.

In a small bowl, combine brown sugar and cinnamon for the filling. Sprinkle the filling mixture evenly over the buttered dough.

Preheat oven to 375°F (190°C) and grease a 9x13 inch baking pan. Bake for 20-25 minutes, or until golden brown and cooked through.

In a medium bowl, combine powdered sugar, softened cream cheese, and vanilla extract. Mix until smooth and creamy. Spread the icing over the warm cinnamon rolls.