To make Cinnabon cinnamon rolls, start by activating the yeast. Combine warm milk and active dry yeast in a small bowl. Let it sit for 5 to 10 minutes until frothy. If using instant yeast, proceed to the next step.
Next, mix the dough. In a large mixing bowl, combine the yeast mixture, eggs, sugar, and butter. Mix until smooth. Add flour and salt, and continue mixing until a dough forms. If you have a stand mixer, use the dough hook attachment.
Now, knead the dough for 5 to 7 minutes until it becomes elastic and smooth. Again, a stand mixer with a dough hook can make this easier. Place the dough in a greased bowl, cover it, and let it rise in a warm place until it doubles in size, which usually takes 30 minutes to an hour.
While the dough rises, prepare the filling. Mix together brown sugar, cinnamon, and softened butter. Once the dough has risen, roll it out into a large rectangle, about 16 inches by 24 inches. Spread the butter evenly over the dough, then sprinkle the brown sugar and cinnamon mixture on top.
Roll the dough into a tight log and cut it into 1 to 1.5 inch slices. Place the rolls in a greased 9×13 inch pan. Cover the rolls and let them rise again for another 30 to 40 minutes. Preheat your oven to 375°F, pour heavy cream around the rolls, and bake for 20 to 22 minutes until golden brown.
While the rolls are baking, make the cream cheese frosting. Mix softened cream cheese, butter, powdered sugar, vanilla extract, and heavy cream until smooth and fluffy. Once the rolls are done baking, spread the frosting over the warm cinnamon rolls and enjoy!