Prepare the Dough

1. Activate the Yeast: In a small bowl, combine the warm milk and yeast. Let it sit for about 5 minutes until bubbly.
2. Mix Dry Ingredients: In a large mixing bowl, whisk together the flour, sugar, and salt.
3. Combine Wet Ingredients: In a separate bowl, mix the melted butter, eggs, vanilla extract, and the yeast mixture until combined.
4. Combine Mixtures: Gradually add the wet mixture to the dry ingredients, stirring until a dough forms.

Knead the Dough

1. Knead the Dough: Turn the dough out onto a floured surface and knead for about 5-7 minutes until smooth and elastic.
2. Let it Rise: Place the dough in a greased bowl, cover it with a kitchen towel, and let it rise in a warm place for 1 hour, or until doubled in size.

Prepare the Filling

1. Mix the Filling: In a bowl, combine the softened butter, brown sugar, cinnamon, and rainbow sprinkles until well mixed.

Roll Out the Dough

1. Roll the Dough: After the dough has risen, punch it down and roll it out on a floured surface into a rectangle about 1/4 inch thick.
2. Spread the Filling: Evenly spread the cinnamon filling over the dough, leaving a small border around the edges.

Form the Rolls

1. Roll It Up: Starting from the long side, roll the dough tightly into a log.
2. Slice the Rolls: Cut the log into 12 equal pieces and place them in a greased 9×13 inch baking dish.

Overnight Refrigeration

1. Cover and Refrigerate: Cover the dish with plastic wrap and refrigerate overnight (or for at least 8 hours).

Bake the Rolls

1. Preheat the Oven: The next morning, preheat the oven to 350°F (175°C).
2. Let the Rolls Rise: Remove the rolls from the refrigerator and let them sit at room temperature for about 30 minutes to rise slightly.
3. Bake: Bake in the preheated oven for 25-30 minutes, or until golden brown and cooked through.

Prepare the Glaze

1. Mix the Glaze: While the rolls are baking, beat together the softened cream cheese, butter, powdered sugar, vanilla extract, and milk until smooth and creamy.

Serve the Rolls

1. Glaze the Rolls: Once the rolls are done baking, remove them from the oven and let them cool slightly before drizzling the cream cheese glaze over the top.