Pour the warm milk (115ºF) in the bowl of a stand mixer and sprinkle the yeast overtop. Allow this to sit for 3-4 minutes until frothy.

Add the room temperature eggs, butter, and sugar. Mix until combined.

Add in salt and 4 cups of flour and mix using the beater blade just until the ingredients are barely combined. Allow the mixture to rest for 5 minutes.

Scrape the dough off the beater blade and remove it. Attach the dough hook.

To knead, beat the dough on medium speed for 5-7 minutes, adding in up to 1/2 cup more flour only if needed to form a dough. The dough should be elastic and smooth, tacky, and pull away from the sides of the bowl but may stick slightly to the bottom.

Spray a large bowl with cooking spray. Use a rubber spatula to remove the dough from the mixer bowl and place it in the greased large bowl. Cover the bowl with a clean kitchen towel or wax paper.

Set the bowl in a warm place and allow the dough to rise until nearly double, about 30 minutes. Do not allow the dough to rise too much or your cinnamon rolls will be airy.

While the dough is rising, prepare the cinnamon filling. In a medium bowl, combine the soft butter, brown sugar, and cinnamon, mixing until well combined. Set aside.

Sprinkle a pastry mat or work surface generously with flour. Turn out the dough onto the surface and sprinkle the top of the dough with additional flour.

Flour a rolling pin and roll the dough to about a 24x15 inch rectangle.

Use a rubber spatula to smooth the cinnamon filling over the whole dough rectangle.

Starting on the long side, roll the dough up tightly jelly roll style.

Cut into 12 slices and place in a greased 9x13 inch baking pan. Cover the pan and allow the rolls to rise for 20 minutes while the oven is preheating.

Preheat the oven to 375ºF.

Warm the heavy cream until the chill is off (not hot, just warm to the touch). Once the rolls have risen, pour the heavy cream over the top of the rolls, allowing it to soak down in and around the rolls.

Bake in a preheated oven for 25 minutes, until the rolls are lightly golden brown and the center rolls are cooked through. If they are getting too browned, cover loosely with foil for the remaining baking time. The internal temperature should read 190ºF in the center roll.

While rolls are baking, prepare the frosting. In a medium mixing bowl, whip together softened cream cheese and softened butter until smooth and fluffy.

Add in maple extract (or vanilla) and powdered sugar and whip until light and fluffy.

Spread the icing over the warm rolls.