In a large bowl, combine warm milk, yeast, and sugar. Let sit 5 minutes.

Add eggs, melted butter, salt, and 3 1/2 cups flour.

Mix until a soft dough forms.

Knead 8-10 minutes until smooth.

Place in a greased bowl, cover, and rise about 1 hour until doubled.

Mix brown sugar and cinnamon together.

Roll dough into roughly a 16×12-inch rectangle.

Spread butter evenly over dough.

Sprinkle cinnamon sugar mixture evenly.

Roll tightly from the long side. Slice into 12 buns.

Bake at 350°F for 24-28 minutes until golden brown.

Beat cream cheese and butter until smooth.

Add icing sugar, maple syrup, and vanilla.

Spread over warm buns.