Start the dough. Rest the milk and yeast for 5 minutes, then mix in the sugar, eggs, yolks, brown sugar, vanilla, salt, and 4 cups of the flour.
Knead. Add the remaining flour one cup at a time, then knead for 6 to 8 minutes until smooth and elastic.
Rise once. Let the dough double in a covered, greased bowl for 1 to 2 hours.
Fill and cut. Roll into a large rectangle, spread with butter, sprinkle with the sugar and cinnamon mixture, roll up, and cut 16 rolls.
Rise and bake. Place the rolls in two greased 9x13 pans, let them rise 30 minutes, and bake at 350 degrees F for 25 to 30 minutes.
Frost. Beat the cream cheese, butter, powdered sugar, vanilla, and salt smooth and spread over the warm rolls.