In a small bowl, combine the warm milk and the active dry yeast. Allow it to sit for about 5 minutes, or until it becomes frothy.

In a large mixing bowl, combine the melted butter, sugar, eggs, vanilla extract, and salt. Mix well.

Slowly add the yeast mixture to the butter mixture, stirring continuously.

Gradually incorporate the flour, mixing until the dough forms. Knead for about 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a clean cloth, and let it rise in a warm area for approximately 1 hour, or until it doubles in size.

While the dough rises, mix the brown sugar, ground cinnamon, and 1/4 cup of soft butter until it forms a paste.

Once the dough has risen, punch it down and roll it out on a lightly floured surface into a rectangle, about 1/4 inch thick.

Spread the filling over the dough, leaving a small border around the edges.

Roll the dough tightly from one long end to the other, sealing the edges as you go.

Cut the roll into 1-2 inch pieces and place them in a greased baking dish.

Cover the rolls with a cloth and let them rise again for about 30 minutes.

Preheat your oven to 350°F (175°C).

Bake the rolls for 25-30 minutes, or until golden brown.

While the rolls are baking, prepare the milk mixture by combining the evaporated milk, sweetened condensed milk, and regular milk in a bowl.

As soon as the rolls come out of the oven, pour the milk mixture over the hot rolls, allowing them to soak in the flavor.

To make the glaze, beat the softened cream cheese and softened butter in a bowl. Gradually add the powdered sugar, stirring until smooth. Then, add the vanilla extract and enough milk to reach your desired consistency.

Drizzle the glaze over the warm rolls before serving.