Combine flour, sugar, baking powder and salt and mix.
Using a pastry cutter (or fork and knife if lacking) cut 5 Tablespoons of butter into dry mix
Add milk and mix until all ingredients are combined.
Dump dough onto a very well floured surface and roll until it forms a cohesive ball. Continue to flour the surface you are working with as needed.
Generously sprinkle flour on the top of the ball of dough and place a large piece of wax paper on top. (If dough is too sticky, work in more flour until it is manageable)
Use a rolling pin to roll dough out to roughly a 10x12" rectangle.
Remove the wax paper and make your filling by combining brown sugar, sugar, and cinnamon and then stirring in butter and vanilla. This will be very much like a paste.
Spread the filling over the rectangle of dough, leaving about ¼" of space as a perimeter around the filling.
Carefully roll dough starting with one of the 12" ends and rolling tightly. Press the edge of the roll into the dough so that it sticks.
Cut the log, spacing your cuts about 1" apart. If the log is not holding its shape well, transfer it to your freezer for about 10 minutes and then try to cut again (it should hold it's shape this way so you will have mostly round cinnamon rolls)
Place the reserved 2 Tbsp of butter into a 9" pie pan and set it in your preheating oven for a few minutes until the butter has melted. Remove from oven.
Place your cinnamon rolls in baking dish, they do not need to be touching, they will spread to fill their surrounding area.
Bake on 375F for 28-30 minutes (beginning to lightly brown around edges). Prepare your icing while the rolls are baking.
With mixer, combine cream cheese and butter and vanilla.
Gradually add sugar, scraping down the sides of the bowl as needed.
Add milk, stirring until combined.
When cinnamon rolls are finished, remove from oven and allow to cool for 5 minutes before spreading icing over rolls.
These cinnamon rolls are nice and soft. Keep in mind that the warmer they are, the harder it will be to separate one from the other. But if you go in for one cinnamon roll and end up with one and a half, it's really not the worst thing that could happen, right?
*This recipe makes a lot of frosting! If you don't like much frosting on your cinnamon rolls, feel free to cut it in half.