Directions

1. Dissolve yeast in warm milk; stir in sugar. Let sit 5 minutes or until frothy.
2. In another bowl, combine butter, salt, yeast mixture and 2 cups flour; beat on medium speed until smooth. Stir in enough remaining flour to form a soft dough (dough will be sticky).
3. Turn out dough onto a floured surface; knead until smooth and elastic, 6-8 minutes. Place in a greased bowl, turning once to grease the top. Cover and let rise in a warm place until doubled, about 1 hour. Preheat oven to 350°.
4. Mix brown sugar and cinnamon. Punch down dough; divide in half. On a lightly floured surface, roll out 1 portion into an 11x8-in. rectangle. Brush with 2 tablespoons butter; sprinkle with half the brown sugar mixture to within 1/2 in. of edges. Roll up jelly-roll style, starting with a long side; pinch seam to seal. Cut into 8 slices; place in a greased 13x9-in. pan, cut side down (cover with a kitchen towel while shaping second half). Repeat with remaining dough and filling. Let rise in a warm place until doubled, about 1 hour.
5. Bake until golden brown, 18-20 minutes. Cool on wire racks.
6. For frosting, beat butter, cream cheese, vanilla and salt until blended; gradually beat in confectioners’ sugar. Spread over tops. Refrigerate leftovers.