In a medium sauce pan, add milk, butter, salt and sugar. Heat until just below the boiling point. When it starts steaming and bubbling around the edges, remove from heat and let cool until approximately 120 degrees F.
Transfer milk mixture to the bowl of your stand mixer fitted with the dough hook attachment and add yeast. Let sit for about 5 minutes until the yeast starts to foam.
Add eggs and mix until combined. Add flour a little at a time until the dough pulls away from the side of the pan. The dough should be soft and only slightly sticky. Add more flour if needed. Knead for 3 minutes.
Transfer dough to a lightly greased bowl, cover with plastic wrap, and let rise until doubled in size.
Divide the dough in half. Use a rolling pin to roll each half of dough into an 18-inch by 12-inch rectangle. Try to make it as square as possible on the sides.
Spread one stick of softened butter over each rectangle. Sprinkle with cinnamon and sugar. Pat it lightly with the palm of your hands.
Starting with the long end, roll the dough into a tight log. Pinch the ends together and turn the log over so that the seam is facing down.
Cut each log in half, then cut each portion in half again, forming four equal sections. Cut each of the four sections in thirds. You will end up with 12 cinnamon rolls from each log.
Place cinnamon rolls into round four cake pan, two 9X13" pan, or one 11X17" pan or similar that have been sprayed with cooking spray. Cover with plastic wrap then a clean kitchen towel and let rise until double.
Preheat oven to 350 degrees. Bake cinnamon rolls 18-22 minutes until slightly brown on top.
For the frosting, beat together the cream cheese and butter until well combined. Add vanilla, maple flavoring, and salt. Mix well. Add in powdered sugar a little at a time. Add milk until desired consistency. Frosting should be thick but pourable.