Activate the Yeast: In a small bowl, combine the warm milk, yeast, and 1 tablespoon of sugar. Let it sit for about 5-10 minutes until frothy.
Mix the Dough: In a large mixing bowl, combine the flour, remaining sugar, and salt. Add the melted butter, eggs, and the yeast mixture to the bowl. Stir until a dough forms.
Knead the Dough: Transfer the dough to a floured surface and knead for about 5-7 minutes until smooth and elastic. Place in a greased bowl, cover with a cloth, and let it rise in a warm place for 1 hour or until doubled in size.
Prepare the Filling: In a bowl, mix the brown sugar, cinnamon, and chopped nuts (if using) until well combined.
Roll Out the Dough: After the dough has risen, punch it down gently and roll it out on a floured surface into a rectangular shape, about ½ inch thick.
Add the Filling: Spread the cinnamon mixture evenly over the dough, leaving a small margin around the edges. Roll the dough tightly into a log, starting from one of the long sides. Cut into 12 equal pieces.
Arrange in a Baking Dish: Grease a large round baking dish (about 10-12 inches) and arrange the cinnamon roll pieces standing upright in the dish.
Second Rise: Cover the dish with a cloth and let the rolls rise for another 30 minutes. Preheat the oven to 350°F (175°C).
Bake: Bake in the preheated oven for 25-30 minutes, until golden brown.
Make the Glaze: In a small bowl, whisk together the powdered sugar, cream cheese, and milk until smooth.
Drizzle and Serve: Once the rolls are done baking, remove them from the oven and let cool slightly. Drizzle the cream cheese glaze over the warm rolls and serve.
Notes
For added flavor, consider using different nuts or adding raisins.