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Warm the milk in a small saucepan until it bubbles, then remove from heat. Mix in the butter; stir until melted. Add water and let cool until lukewarm. In a large bowl, combine the milk mixture, yeast, white sugar, salt, eggs and 2 c. flour; stir well to combine. Stir in the remaining flour, ½ c. at a time, beating well after each addition. When the dough has pulled together, turn it out onto a lightly floured surface and knead until smooth and elastic, about 8 minutes. Divide dough into two pieces. Roll each piece into a 12 x 9 inch rectangle. In a bowl, stir together the cinnamon and brown sugar. Spread each piece with half of the butter, half of the brown sugar and cinnamon mixture. Roll up dough, using a little water to seal the seam.
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Cut each roll into 12 slices using a very sharp knife or dental floss. Place rolls onto two 9 x 13 inch Pam sprayed baking pans. Cover and let rise until almost doubled, about 2-3 hours. Meanwhile, preheat oven to 375 degrees. Bake in preheated oven for 20-25 minutes until golden brown. To make frosting; combine the powdered sugar, cram cheese, butter and vanilla. Add milk gradually until frosting reaches a spreading consistency. Spread over warm (but not hot) cinnamon rolls.
If you are baking rolls in the morning….let dough just rise for an hour and shape into rolls. Put pan in refrigerator and cover with plastic wrap. Take out of refrigerator in morning and let them rise at room temp on top of warm oven for about 30 minutes to an hour, until about doubled.
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