In a large mixing bowl, combine the warm milk, sugar, and yeast. Let it sit for about 5 minutes until it becomes frothy.

Add the melted butter, eggs, and salt to the yeast mixture, stirring to combine.

Gradually add the flour, mixing until a soft dough forms.

Transfer the dough to a floured surface and knead for about 5 minutes until smooth and elastic.

Place the dough in a greased bowl, cover it with a cloth, and let it rise in a warm area for about 1 hour or until doubled in size.

Once the dough has risen, punch it down and roll it out on a floured surface into a rectangle, about 16x24 inches.

Spread softened butter over the dough, then sprinkle with the brown sugar and cinnamon mixture.

Starting from the long edge, tightly roll the dough into a log. Cut the log into 12 equal pieces, placing them cut-side up in a greased baking dish.

Pour the heavy cream evenly over the rolls.

Bake in a preheated oven at 350°F (175°C) for about 25 minutes, or until golden brown.

While the rolls are baking, whisk together the powdered sugar and milk until smooth.

Once the rolls are out of the oven, let them cool for about 10 minutes before drizzling with icing.