Mix 1 1/2 cups of flour and the yeast in a bowl. Set it aside.

Put the milk, 1/3 cup of butter, sugar, and salt in a saucepan until it reaches 120 degrees. Take off the heat and stir until butter is melted. Add in the yeast and flour mixture.

Mix together on low with the mixer and paddle and add the eggs one at a time.

Change to the dough hook and beat at low speed. Add the rest of the flour slowly. Turn the speed to medium until a soft dough forms. This will take about 3 minutes.

Put the dough in a lightly greased bowl and turn it to coat everywhere. Cover with a clean dish cloth.

Let the dough rise in a warm space, which will take about 1.5 hours.

Punch down the dough and then put it on a lightly floured surface. Cover and let it rest for up to 10 minutes.

Combine all the ingredients for the filling.

Roll the dough into a rectangle shape which is about 20 inches by 10 inches. Put on the filling mixture and be sure to leave a 1-inch space on the long edge where there should be no filling.

Begin on the long side and roll up the dough. Work it tightly but don't pull on it too much. Seal it by pinching it shut.

Cut the roll into 12 even sizes and slices.

Put each piece in a pan that is sprayed with non stick spray. Leave an inch between each one. Cover and put it in a warm place for 40 minutes to double.

Put in the oven and bake at 350 degrees for 25-30 minutes.

As they are baking, mix the cream cheese, vanilla, and butter. Stir well. Add in the flour and then add the milk slowly.

Take the rolls out of the oven and add on the homemade icing.