Warm the milk to 110 degrees (not too much warmer or it can kill the yeast) then stir in 1 tbsp of sugar. Sprinkle the yeast over the milk. Let rest for 5 to 10 minutes and the yeast should foam. If it does not, start over with new yeast.
Meanwhile, in the bowl of your mixer combine the flour, sugar, butter, eggs and salt and mix until combined. Add the milk/yeast mixture and use the dough hook to knead to a slightly sticky dough ball.
Transfer the ball to a lightly greased bowl and cover with a towel. Let sit in a warm spot for 1 hour until dough doubles in size.
Punch down the dough and place on a lightly floured surface. Roll out to about 12" x 16" long.
For the Filling:
Combine the brown sugar, butter, cinnamon and nutmeg in a bowl and mix until combined and crumbly. Sprinkle evenly over the rolled out dough, making sure to reach all the edges.
Starting with the long edge, roll up the dough, making one long tube. Use a sharp serrated knife to cut the dough into 12 equal size disks.
Place the disks, cut side up in a lightly greased 9x13" pan and cover with a damp towel. Let rise for another 30 minutes.
Bake in a 350 degree F preheated oven for 20 to 25 minutes, or until tops are lightly golden brown.
For the icing:
While the cinnamon rolls are baking make the icing by combining the butter and cream cheese in a bowl and mixing until smooth. Add the powdered sugar and vanilla and mix until light and fluffy.
Spread the icing over the warm cinnamon rolls and enjoy!
Use rapid rise yeast in place of the active dry yeast to cut the rise times in half!