1-First, combine warm milk, yeast, and granulated sugar in a bowl, stir gently, and let it sit for about 10 minutes until foamy. This activates the yeast for a light, fluffy dough.

2-Next, in a mixer bowl, mix melted unsalted butter, granulated sugar, whisked eggs, whisked egg yolks, kosher salt, and the yeast mixture; gradually add bread flour or all-purpose flour until combined.

3-Knead the dough using a dough hook on medium speed for 10-15 minutes until it is soft, smooth, and slightly tacky, adding flour in tablespoons if it is too sticky.

4-Grease a large bowl lightly, place the dough inside, cover with oiled plastic wrap and a warm damp towel, and let it rise for 1 1/2 to 2 hours or until doubled in size.

5-Prepare the baking sheet by spreading softened unsalted butter on the bottom and sprinkling packed brown sugar evenly.

6-Punch down the risen dough, divide it in half, and roll each portion into a 12×15 inch rectangle about 1/4 inch thick, resting if the dough resists rolling.

7-Spread softened unsalted butter on the dough, leaving a 1/2 inch border, then sprinkle and press a mixture of packed dark brown sugar, ground cinnamon, and kosher salt evenly over the butter.

8-Mark cutting lines at 1.25-inch intervals and slice the dough into strips using a pizza cutter. Roll up each strip and place the rolls on the prepared baking sheet, spacing them slightly from the edges.

9-Cover the rolls loosely with foil and let them rise for 30-60 minutes until almost doubled. Alternatively, cover and refrigerate the shaped rolls overnight, then let them rise for 30 minutes to 1 1/2 hours before baking.

10-Optional: Pour warmed heavy cream over the rolls just before baking.

11-Bake at 350°F for 25-30 minutes until golden brown and reaching an internal temperature of about 195°F; tent with foil if the tops brown too quickly.

12-For the frosting, beat softened full-fat cream cheese and softened unsalted butter until smooth, then add powdered sugar and vanilla bean paste or vanilla extract, and beat until smooth. Spread the frosting on the warm rolls and serve.