In a large mixing bowl, combine the flour, sugar, and salt. Heat the milk and butter until warm, then stir in the yeast until dissolved. Pour this into the dry ingredients, mixing until incorporated. Knead for about 10 minutes until smooth and elastic. Place in an oiled bowl, cover, and refrigerate overnight.

Preheat your oven to 180°C. In a small bowl, mix sugar and cinnamon for the filling. Roll the chilled dough into a 9 x 13 inch rectangle. Spread butter over the rolled dough, sprinkle the cinnamon sugar, then roll tightly and cut into 2-inch pieces.

Cover the dish with a towel and let the rolls rise until doubled in size, about 1.5 hours. Bake for 25 to 30 minutes until golden brown.

In a mixing bowl, combine cream cheese, icing sugar, vanilla, and milk. Beat until smooth. Adjust thickness with milk.

Spread or drizzle icing over the rolls after cooling for about 10 minutes, allowing it to melt slightly.