In a small bowl, sprinkle yeast over 1/2 cup of warm water (110 to115 degrees F). Stir completely to dissolve. Allow yeast to bloom.
In a mixing bowl, combine warm milk, melted butter, sugar and salt. Stir until blended.
To the milk mixture add the yeast mixture, eggs, vanilla and 5 1/2 cups of flour. (I always start with 5 cups and add more if needed).
Mix with dough hook attachment until dough comes together. Dough should be tacky or pull away from the sides of the bowl. Continue to knead with dough hook for 5 to 7 minutes or knead by hand for 10 minutes.
Place dough in a clean greased bowl; turn dough over so all surfaces are greased. Cover with a tea towel or fabric bowl cover. Place dough in a warm spot until it doubles in size.
Meanwhile, in a small bowl add 3/4 cup of sugar, cinnamon, and 3 tablespoons of melted butter. combine.
Once dough has doubled in size, punch it down. Transfer to clean surface to roll into a 8 x12 inch rectangle.
Spread cinnamon mixture evenly over dough.
Roll long side to long side jelly-roll fashion. Cut dough into 12 one inch slices and place in a greased 9 x 13 baking pan. Cover pan with tea towel and allow to rise until doubled in size.
To the pan pour 1 cup of heavy cream over the rolls.
Pre-heat oven to 375 degrees F. Baked rolls for 20 to 25 minutes.
Whiles rolls are baking make the frosting. In a medium bowl, mix powdered sugar, milk, and vanilla until very well blended. Set aside.
Remove rolls from oven and allow to cool for about 5 minutes before frosting.
