Soft and Fluffy Cinnamon-Walnut Rolls with Cream Cheese Frosting

In a small bowl, combine the warm milk, sugar, and yeast. Stir until the yeast dissolves. Let it sit for about 5 minutes until it becomes frothy.
In a large mixing bowl, combine the melted butter, eggs, and vanilla extract. Add the yeast mixture and stir to combine.
Gradually add the flour and salt, stirring until a dough begins to form. Knead the dough on a lightly floured surface for about 5-7 minutes until smooth and elastic.
Place the dough in a greased bowl, cover with a clean kitchen towel, and let it rise in a warm place for about 1-1.5 hours, or until it doubles in size.
2. Prepare the Filling:
In a medium bowl, combine the brown sugar and cinnamon.
In a separate small bowl, soften the butter and mix it with the cinnamon-sugar mixture until well combined.
3. Assemble the Rolls:
Preheat the oven to 350°F (175°C). Grease a 9×13-inch baking dish.
Punch down the risen dough and roll it out on a floured surface into a rectangle about 12×16 inches.
Spread the cinnamon-butter mixture evenly over the dough. Sprinkle the chopped walnuts evenly over the cinnamon filling.
Starting from the long edge, carefully roll the dough into a tight log.
Slice the roll into 12 even pieces and place them in the prepared baking dish. Arrange them close together, but not touching.
Cover the rolls with a towel and let them rise for another 30 minutes.
4. Bake the Rolls:
Bake the rolls in the preheated oven for 20-25 minutes, or until golden brown and cooked through.
5. Make the Cream Cheese Frosting: