In a large mixing bowl, add the milk, yeast and sugar and mix with a hand whisk until the yeast is completely dissolved. Add the butter, eggs, salt and flour and mix well to form a dough.
Knead the dough on a lightly floured surface for about 6 minutes or until the dough forms a smooth ball.
To test whether the dough is well kneaded, you can: Method 1: Press the dough with the palm of your hand to feel the texture and elasticity of the dough. When kneaded, the dough will have a smooth surface and a soft texture, and it will rebound obviously when pressed.
Method 2: Stretch the dough with both hands, the dough has sufficient elasticity and strength, not easy to break.
Or beat with the hook attachment on food processor for about 5 minutes on medium speed, until a dough forms and starts to pull away from the sides of the bowl.
Oil a large bowl with some vegetable oil and set aside. Take the dough out of the mixer and pull it together with your hands to form a ball. Place it in the oiled bowl and oil the top of the dough with a little vegetable oil. Cover with plastic wrap and place it in a warm spot to rise for about 1 hour, or until it has doubled in size.
In a small bowl, mix together the butter, brown sugar, granulated sugar and cinnamon for the filling, set aside.
When doubled in size, punch the dough down and roll it out onto a floured surface into a 40 x 22 cm by 1/2 cm thick rectangle. Spread the sugar and cinnamon mixture evenly over the dough ,except for a small strip at one of the long ends. Wet the small strip with a little water - this will help seal the end after it has been rolled. Starting at the opposite long end that you have just wetted, tightly roll the dough into a cylinder form. Cut into 12 slices (make sure they are even) and place them cut side down in a well buttered baking pan. Cover with plastic wrap and let put them back into a warm spot to rise for another 1/2 hours.
Meanwhile preheat your oven to 180C/350F degrees.
Once risen, brush them with some melted butter and bake them for about 20 minutes or until golden brown.
While the cinnamon rolls cool for a few minutes make the glaze. Mix all the ingredients of the glaze in a bowl except for the milk, once the cream cheese is all mixed, slowly add the milk until you get a runny glaze consistency. Immediately spread the glaze over the cinnamon rolls and enjoy!