To make Cinnabon from scratch, start by making the dough. Combine warm milk, yeast, and sugar, and let it sit for 3-4 minutes until the yeast is activated. Add eggs, butter, and salt, then mix until combined. Gradually add flour, mixing until a dough forms. Knead the dough for 5-7 minutes until it becomes elastic and smooth. Place the dough in a greased bowl, cover it, and let it rise in a warm place until nearly double in size, which takes about 30 minutes.
Next, prepare the filling. Mix softened butter, brown sugar, and cinnamon. Roll out the dough to a 20×30-inch rectangle. Spread the butter mixture evenly over the dough, leaving a 1-inch strip at the bottom. Roll the dough into a log and cut it into 2-inch rolls. Place the rolls in greased baking pans, cover, and let them rise for 1-2 hours or until double in size.
Now, bake the rolls. Preheat the oven to 350°F (175°C). Bake the rolls for 17-20 minutes or until lightly browned. While the rolls are baking, make the frosting. Mix softened cream cheese, butter, powdered sugar, and vanilla until smooth. Whip the frosting for 5-7 minutes to lighten its color.
Finally, assemble and serve. Slather the frosting on the warm rolls. Let the rolls cool, then slather them again with the remaining frosting. These homemade Cinnabon cinnamon rolls will be soft, chewy, and deliciously gooey, just like the ones from the bakery.