01 - Combine lukewarm milk and yeast in a large bowl. Let stand for 5 minutes until mixture becomes foamy, indicating yeast activation.
02 - Add sugar, melted butter, eggs, and salt to the yeast mixture. Gradually incorporate flour while mixing until a soft dough begins to form.
03 - Turn dough onto a lightly floured surface and knead for 5 to 7 minutes until smooth, elastic, and no longer sticky. The dough is ready when it springs back when pressed.
04 - Place dough in a greased bowl, turning to coat all surfaces. Cover with plastic wrap or a clean towel and let rise in a warm, draft-free area until doubled in size, approximately 1 hour.
05 - While dough rises, combine brown sugar and ground cinnamon in a small bowl. Mix thoroughly until evenly blended.
06 - Punch down risen dough to release air. On a floured surface, roll into a 16x12-inch rectangle. Spread softened butter evenly over surface, leaving a small border. Sprinkle cinnamon sugar mixture liberally across buttered area.
07 - Starting from the longer side, roll dough tightly into a log. Slice into 12 equal portions using a sharp knife or unflavored dental floss. Pinch the bottom of each roll to form a point and gently indent the top center to create a heart shape.
08 - Arrange shaped rolls in a greased 9x13-inch baking pan, leaving space for expansion. Cover and let rise for 30 to 40 minutes until puffy and noticeably increased in size.
09 - Preheat oven to 350°F. Bake rolls for 22 to 25 minutes until golden brown and cooked through. A toothpick inserted into the center should come out clean.
10 - While rolls cool slightly, beat softened cream cheese and butter until smooth and creamy. Add powdered sugar, vanilla extract, and 1 tablespoon of milk. Mix until combined, then add food coloring one drop at a time until desired pink color is achieved. Adjust consistency with additional milk if needed.
11 - Spread pink cream cheese icing generously over warm rolls. Serve immediately while still slightly warm for the best texture and flavor.