Warm the milk to 110°F. Whisk in the instant yeast and 1 tablespoon of the granulated sugar. Let sit for 5-10 minutes until frothy.
In a stand mixer bowl, combine the yeast mixture, remaining granulated sugar, melted butter, and eggs. Add the flour and salt. Knead with a dough hook for 7-9 minutes until smooth and tacky.
Place the dough in an oiled bowl, cover, and let rise in a warm place for 1 to 1.5 hours until doubled in size.
Mix the softened butter, dark brown sugar, and premium organic cinnamon powder into a thick paste for the filling.
Punch down the dough and roll it out on a floured surface into a 12x18-inch rectangle. Spread the filling paste evenly over the surface.
Roll the dough tightly into a log. Cut into 12 equal slices using dental floss. Place the rolls in a greased 9x13-inch baking dish.
Cover and let rise for 30-45 minutes until puffed. Preheat oven to 350°F (175°C).
Bake for 25-30 minutes until golden brown. Meanwhile, beat the cream cheese, powdered sugar, and vanilla until smooth.
Spread the icing over the warm rolls and serve immediately.
