Bloom the Yeast: Mix sugar and yeast together. Then, pour warm milk and let proof for 5 to 10 minutes until foamy.
Make the Dough: Mix in butter, eggs salt and flour. Mix 6 minutes on low to medium speed with a dough hook of your stand mixer or 10 minutes by hand. Knead until smooth and elastic. Cover and let the dough rise until doubled in size, 60 minutes.
Fill and roll: Transfer to a greased counter and roll the dough into a 12x18 inch rectangle with 1/2 inch thickness. Spread softened butter over dough leaving a 3/4 inch strip on one side. Mix brown sugar and Vietnamese cinnamon and sprinkle cinnamon sugar filling over. Then, roll tightly into a log and pinch the seam together to seal.
Slice and Second Rise: Cut into 12 rolls, about 1 inch each, and place in a parchment lined baking dish. Cover and let rise again for 30 minutes until puffy.
Bake: Preheat oven to 375F and uncover the rolls. Bake until lightly golden and soft in the center, about 15 minutes. Oven times may vary. Meanwhile, make the frosting.
Make Frosting: Beat cream cheese and butter until completely smooth, about 2 minutes. Mix in condensed milk, vanilla and a pinch of salt. Whip cold heavy cream to soft peaks, about 3 minutes. Gently fold whipped cream into the cream cheese mixture. Spread over warm cinnamon rolls so it slightly melts into the swirls. Enjoy!
