Dissolve yeast in warm milk with a pinch of sugar. Let sit 5 minutes until foamy.
Mix in remaining sugar, butter, eggs, and salt. Add flour gradually and knead until a soft dough forms, about 8 minutes. Cover and let rise 1 hour.
Roll dough into a large rectangle. Spread softened butter over the surface, then sprinkle brown sugar and cinnamon evenly.
Roll the dough tightly into a log and cut into 12 even rolls. Place in a greased 9x13 pan, cover, and refrigerate overnight.
In the morning, pull rolls from the fridge 30 minutes before baking. Bake at 375°F for 22 to 25 minutes until golden.
Beat cream cheese, powdered sugar, and milk together until smooth. Spread over warm rolls and serve.