Laura's Cinnamon Rolls

Recipe from Laura Lyons

Rolls:
1 (¼ oz) pkg dry yeast (NOT rapid rise)
1 C warm milk
½  C granulated sugar
1/3 C unsalted butter
1 tsp salt
2 eggs
4 C flour

Filling:
1 C packed brown sugar
2 ½  Tbsp cinnamon    
1/3 C salted butter, softened

Icing:
1 8oz pkg Philadelphia Cream Cheese (room temp)
1 stick salted butter (softened)
1 ½  tsp vanilla extract
¾ - 1 ½  C powdered sugar

For the rolls, dissolve the yeast in the warm milk in a large bowl. (5 minutes)  Add sugar, butter (softened not melted) salt, eggs, and flour, mix well.  Knead the dough into a large ball, using your hands dusted lightly with flour.(be careful not to over-knead. I only knead until ingredients are JUST blended.)  Cover the ball of dough and bowl it will rise in (I use Pyrex) liberally with butter. Put in bowl, cover with a slightly damp dish towel and let rise in a warm oven about 1 hour or until the dough has doubled in size. Do not knead the dough at all after it rises. Just dump the dough out on to floured surface.  Roll the dough out on a lightly floured surface, until it is approx 21 inches long by 16 inches wide.  It should be approx 1/4 thick (a little thicker is fine.)  Preheat oven to 375 degrees.
To make filling, combine the brown sugar and cinnamon in a bowl.  Spread the softened butter over the surface of the dough, then sprinkle the brown sugar and cinnamon evenly over the surface, then sprinkle with about a tablespoon of flour and pat filling down gently with floured hands.  Working carefully, from the long edge, roll the dough down to the bottom edge.  Cut the dough into 12 even slices and place in a lightly buttered 9 x 13 baking pan. Let them rise again uncovered in a warm oven for about 20 minutes until the rolls are swollen and touching each other.  Bake for approximately 18 minutes or until light golden brown.  While the rolls are baking combine the icing ingredients.  Beat well with an electric mixer until fluffy.  When the rolls are done, spread generously with icing. I only let them sit for about 5 minutes before icing them, you want them to be hot.