Generously butter two cake pans.
In a large bowl, whisk together warm milk, melted butter, and granulated sugar. Your mixture should be warm, registering between 100-110˚F (37-43˚C). If it is hotter, allow time for cooling before continuing.
Sprinkle the yeast evenly over the warm mixture and allow to set for 1 minute.
Add 4 cups (500g) of all-purpose flour to the milk mixture and mix with a wooden spoon until combined, do not over stir.
Cover the bowl with a damp towel or plastic wrap and set in a warm place to rise for 1 hour.
After1 hour, the dough should have nearly doubled in size.
Remove damp towel and add an additional ¾ cup (95g) of flour, the baking powder, and salt. Stir well, then turn out onto a well-floured surface.
Kneadthe dough lightly, adding additional flour as necessary, until the dough justloses its stickiness and does not stick to the surface.
Roll the dough out into a large rectangle, about ½-inch (1 cm) thick.
Spreadthe softened butter evenly over the dough.
Sprinkleevenly with brown sugar and a generous sprinkling of cinnamon.
Press the mixture into the butter.
Roll up the dough, from the long edge, forming a long roll, and pinch the seam closed. Place seam-side down. Trim off any unevenness on either end.
Cut the roll in half, then divide each half into 7 evenly sized pieces. About 1½ inches (8cm) thick each.
Place 7 cinnamon rolls in each cake pan, one in the center, six around the sides.Cover with plastic wrap and place in a warm place to rise for 30 minutes.
Preheat oven to 350˚F (180˚C).
Prepare the frosting in a medium-size mixing bowl, whisk together cream cheese, butter, whole milk, vanilla, and powdered sugar, until smooth.
Remove plastic wrap. Bake the cinnamon rolls in a preheated oven for 25-30 minutes, until golden brown.
While still warm, drizzle evenly with frosting.
Now you can slide a plate on over and enjoy..
