This dough is a denser dough than you may be use to. It will lighten up as it rises but needs to be a bit denser to hold up in the refrigerator and not overrise.
Heat the milk in a pan until it begins to bubble. Remove from heat and add butter. Stir until butter melts.
When milk is lukewarm add yeast and allow to proof for 10 minutes.
Put sugar, 3 cups of flour, salt and eggs into a mixer. Add in yeast mixture. Mix.
Add in remaining flour until dough is no longer sticky. Knead for 5 minutes until smooth and soft.
Oil a large bowl and place dough in bowl, turn to coat dough with oil. Cover with a cloth and let rise in a warm place until double in size. About 1 hour.
Deflate the dough and put onto a floured surface and roll out into a 12x14 rectangle.
Spread with softened butter.
Mix together brown sugar and cinnamon. Sprinkle over dough.
Roll up dough into log and cut into 12 pieces.
Line a 9 x 13 pan with parchment paper or grease it. Place dough into pan and cover with pastic wrap and place in refrigerator over night.
In the morning remove from refrigerator and allow to set in a warm place for an hour. I like to turn my oven to 150 degrees F and then turn off the oven and place the rolls in the oven to rise.
Bake at 350 degrees for 25-30 minutes or until golden brown.
Mix together butter, vanilla, powdered sugar and whipping cream until a nice smooth consistency. Spread over warm rolls.