Melt butter in a large pot over low heat and then add the milk.
When the mixture is lukewarm, remove from the heat. Add the dried yeast, whisking to incorporate.
Mix the flour, sugar and salt in a large bowl.
Pour the wet ingredients into the dry ingredients and using a wooden spoon mix well.
Once the dough has taken shape, turn the dough onto a clean floured surface and knead for 6 minutes.
Transfer the bowl to a floured bowl. Cover the bowl using a cling film and a towel and let it rise for 45 minutes in a warm dark place.
Preheat the oven for 180°C.
To prepare the filling: in a bowl beat the butter, light brown sugar and Cinnamon powder, until you have a smooth paste.
When the dough has risen, punch it down the bowl. Turn out the dough to a well-floured surface and knead the dough lightly. Add extra flour when necessary, to lose the stickiness of the dough.
Knead the dough and roll it out to a rectangular shape (about 1 inch thickness).
Spread the cinnamon powder and sugar mixture on to the dough. Starting from the short end, roll up the dough into a roll.
Cut the log into small pieces. Butter a non-stick baking tray and place the cut cinnamon rolls into the prepared tin.
Bake the cinnamon rolls at 180°c C for 20-25 minutes.
While the cinnamon rolls are baking; prepare the frosting. In a bowl, whisk together cream cheese, melted butter, milk and vanilla extract until a smooth consistency.
Let the cinnamon rolls cool for 10 minutes.
Drizzle the frosting over the cinnamon rolls.