Pour one cup of warm milk into the bowl of a stand mixer fitted with the paddle attachment. Sprinkle two and one-half teaspoons of instant dry yeast over the top.
Add two large eggs, one-third of a cup of softened butter, and one-half cup of granulated sugar, and mix until well combined.
Replace the paddle attachment with the dough hook. Add four cups of Bisquick and mix until just combined. Allow the dough to rest for five minutes.
Turn the mixer to medium speed, adding the remaining one-half cup of Bisquick only if needed to form a soft dough. Continue mixing until the dough becomes smooth and elastic-like, about five minutes. The dough should be tacky, so don’t be tempted to add more Bisquick.
Transfer the dough to a large, greased bowl and cover it with a clean towel or plastic wrap. Allow the dough to rise for thirty minutes or until doubled.
To prepare the filling, combine one-half cup of softened butter, one cup of packed brown sugar, and two tablespoons of cinnamon in a medium bowl. Mix until well combined and set aside.
Place the dough onto a Bisquick floured work surface. Roll the dough out to a rectangle shape roughly measuring 24”x16”. Spread the cinnamon filling evenly over the entire surface of the dough.
Tightly roll up the dough, starting with the wide end. Cut into twelve even slices and place them on two parchment-lined baking sheets. Cover the baking sheets and allow the rolls to rise for another twenty minutes.
Preheat the oven to 350°F.
Place one-half of a cup of heavy cream in a small bowl and slightly warm in the microwave. Pour the warm cream over the top of the rolls. Don’t worry about being messy; you want the cream to soak in and around the rolls.
Bake for twenty minutes or until lightly brown. Make sure the center of each roll is cooked through. (You may need extra baking time). Allow the rolls to cool.
To prepare the frosting, combine one package of softened cream cheese and one-third of a cup of soft butter in a large bowl. Blend well using an electric hand mixer. Add two cups of powdered sugar and one-half tablespoon of vanilla extract. Continue mixing until well combined.
Spread the frosting over each cooled roll and enjoy!