If you haven’t already melt your butter and set aside to cool.
Heat milk in a saucepan or in the microwave (about 50-60 seconds) until warm, but not hot. Around (105°–115°F). Make sure milk isn’t too cold otherwise it won’t activate your yeast, but if it’s too hot it’ll kill the yeast!
Add 1 Tablespoon of sugar to the milk and stir to combine. Pour yeast on top and let mixture stand until it bubbles, about 5-8 minutes.
By hand, whisk together eggs, melted and cooled butter and remaining sugar in a large mixing bowl. Pour in yeast mixture and whisk to combine.
In a medium mixing bowl combine flour, salt and baking powder.
Add dry ingredients to liquid mixture and stir until combined and dough forms. Dough will be soft, but shouldn’t be too sticky.
Cover bowl with plastic wrap or a warm towel and set in a warm spot in your kitchen. Let rise 1-2 hours, or until doubled in volume. Time will depend on how warm your house is. You can also use your “bread proof” setting on your oven or set your oven to the lowest temperature and heat for 1-2 minutes, turn oven off and add covered bowl to oven to let dough rise.
While dough is rising, make cinnamon sugar filling by stirring together brown sugar and cinnamon in a small bowl. Grease 13 x 9-inch baking pan or round 9.5-inch pie pan with butter.
Once dough has doubled in size, roll out a large sheet of parchment paper and spray with nonstick cooking spray. Lightly oil your hands and spread the dough onto the parchment paper. Roll dough with a rolling pin into roughly 14 x 10-inch rectangle. Do not press the dough too thin!
Spread softened butter onto dough with your fingers then sprinkle cinnamon sugar mixture over butter. Press down slightly to ensure the cinnamon sugar mixture sticks to the butter.
Starting at the top, roll the dough toward you into a large log, using the parchment paper to help roll, moving back and forth down the line of dough (in a “typewriter” motion) and always rolling toward you. Roll it tightly as you go so the rolls will be nice and neat.
When it’s all rolled, pinch the seam closed and cut roll crosswise into 12 1-inch-thick pieces using a sharp knife (cut down in one motion vs sawing the dough). Wipe off knife in between each cut to prevent the dough from sticking.
Place rolls on prepared baking pan. Cover, and place in warm place again for 45-60 minutes, until they rise and puff up.
Preheat oven to 350°F. Bake cinnamon rolls for 16-20 minutes, or until golden brown on top, rotating the pan halfway through. Do not overbake!
While cinnamon rolls are cooling, make cream cheese frosting by adding cream cheese, greek yogurt, maple syrup and vanilla to a large mixing bowl. Using a hand mixer on medium speed, whip all the ingredients together until smooth and fluffy, scraping down the sides as needed. Alternatively, you can use a stand mixer.
Spread frosting over warm cinnamon rolls and serve.