Warm milk to about 100–110°F and mix with yeast and a pinch of sugar. Let sit for 5–7 minutes until foamy.

Stir in softened butter, beaten eggs, a tablespoon of sugar, and a pinch of salt.

Gradually add flour and mix until a soft dough forms. Knead for 6–8 minutes by hand or 4–5 minutes in a mixer until smooth and slightly tacky.

Place dough in a lightly oiled bowl, cover, and let rise until doubled, about 1–1.5 hours at room temperature.

Punch down dough and turn onto a floured surface. Roll into a 12x18-inch rectangle.

Spread softened butter over the dough and sprinkle with brown sugar and cinnamon. Press the filling lightly.

Starting from a long edge, roll the dough into a tight log and seal the seam with a little water.

Trim ends and slice log into 9–12 even rolls using a sharp serrated knife or dental floss.

Arrange rolls in a greased pan, cover tightly, and refrigerate overnight or let rise for 45–60 minutes at room temperature.

Preheat the oven to 350°F. Bake rolls for 25–30 minutes until golden and cooked through.

While rolls bake, mix cream cheese, powdered sugar, and maple syrup until smooth, adding milk to thin as necessary.

Remove rolls from oven, let sit for 5 minutes, then spoon glaze over warm rolls.