Pour the warmed milk into a small bowl, stir in the yeast and a pinch of the granulated sugar. Let sit 5–7 minutes until frothy.

In the bowl of a stand mixer (or a large mixing bowl), combine the melted butter, remaining granulated sugar, and eggs.

Add the frothy yeast-milk mixture and mix until combined.

Add 2 cups of flour and the salt, mixing on low, then gradually add the remaining flour until a soft, slightly sticky dough forms.

If kneading by hand, turn onto a floured surface and knead for 6–8 minutes, or use the dough hook for 5–6 minutes with a mixer.

The dough should be smooth and elastic but not dry.

Lightly oil a large bowl and place the dough inside, turning once to coat. Cover with a damp towel or plastic wrap and let rise in a warm spot until doubled in size, about 1 to 1 1/2 hours.

Mix the brown sugar and cinnamon in a small bowl. Spread the softened butter over the rolled-out dough and sprinkle the cinnamon-sugar evenly, then scatter the toasted walnuts on top.

Punch down the dough and roll it out on a lightly floured surface into a rectangle about 16x12 inches.

Spread the softened butter evenly, then sprinkle the cinnamon-sugar mixture and toasted walnuts.

Starting from the long edge, roll the dough tightly into a log, pinch the seam to seal.

Cut into 12 even slices and arrange the rolls cut-side up in a greased 9x13-inch pan.

Cover the pan loosely and let the rolls rise another 30–45 minutes until puffy. Preheat the oven to 350°F (175°C) during the last 15 minutes of rising.

Bake for 22–28 minutes until golden brown on top and cooked through. If the tops brown too quickly, tent with foil for the last 5–10 minutes.

Beat the cream cheese and butter together until smooth. Add powdered sugar, vanilla, and a pinch of salt. Thin with milk or cream to your desired spreadable consistency.

Spread the frosting over warm rolls so it melts into the crevices, or hold off and slather it on right before serving.

Sprinkle extra chopped walnuts on top for garnish if desired.