To prepare the rolls: Warm milk on stove or in microwave until it reaches approximately 115-120 degrees. I always use a thermometer. Add a teaspoon of sugar to the milk and mix. Sprinkle yeast over the milk and allow to proof, about 10 minutes.
In a large bowl for your mixer, add sugar, butter, salt, eggs, and flour, and mix well until incorporated.
Pour the milk and yeast mixture over the flour mixture. Using a dough hook, mix well until the dough sweeps the sides of the bowl clean. I allow the hook to "knead" the dough approximately 10 minutes. Sometimes I will also knead by hand. The dough will feel tacky.
Place dough ball into a large oiled bowl, turning so it's all covered by the oil. Cover, and allow to rise until doubled in size. This almost always takes 2-3 hours for me, but will depend on the tempature of the house.
While waiting, combine the brown sugar and cinnamon.
Once risen, pour dough onto a floured surface and roll with a rolling pin into a 16"x 12" rectangle, about 1/4" thick.
Spread room temperature butter over the dough, all the way to the edges. Sprinkle the brown sugar cinnamon mixture evenly over the dough.
Carefully, and relatively tightly, roll up the dough from the long edge. Pinch dough together so its sealed.
Using twine or floss, cut dough evenly into 16 rolls. Place in greased 9x13 dish.
Cover, and allow to rise until doubled, about 45 minutes to an hour.
Preheat oven to 350.
While waiting on the oven, pour half a cup of heavy cream evenly over the rolls.
Place in oven and bake for 20 minutes or until light golden brown. Do not overbake. Cooking times may vary.
While the rolls are cooking, whisk up the icing ingredients until fully inncorported, and smooth.
When rolls have finished baking, spread immediately with icing mixture. Allow to rest several mintes. Enjoy!