In a large mixing bowl, combine 2 cups of all-purpose flour, granulated sugar, instant yeast, and salt. Whisk together until well-mixed.
In a separate bowl, whisk the warmed milk, melted butter, and eggs until blended. Ensure the mixture is not too hot to avoid killing the yeast.
Gradually pour the milk mixture into the flour blend, mixing with a spatula or wooden spoon until combined.
Continue to add the remaining flour, 1/2 cup at a time, stirring until a soft dough begins to form. The dough should not be sticky.
Turn the dough out onto a lightly floured surface. Knead gently for about 5 minutes, or until the dough is smooth and elastic.
Transfer the dough to a greased bowl, cover it with a clean kitchen towel, and let it rise in a warm environment for about 1 hour, or until it has doubled in size.
Once risen, punch down the dough gently to release air. Roll it out on a floured surface into a rectangle, approximately 1/4 inch thick.
Evenly spread the softened butter for the filling over the rolled-out dough, ensuring complete coverage.
In a small bowl, mix together the packed brown sugar and ground cinnamon, then sprinkle this delicious mixture uniformly over the buttered dough. If using, scatter the chopped nuts or raisins over the cinnamon-sugar layer.
Starting from the long edge, roll the dough tightly into a log shape. Use a sharp knife or dental floss to cut the log into 12 equal pieces.
Arrange the rolls in a greased baking dish, cover with a towel, and allow them to rise again for another 30 minutes.
Meanwhile, preheat your oven to 350°F (175°C).
Bake the cinnamon rolls for 25-30 minutes, or until they are golden brown on top. Keep an eye on them during baking to prevent over-browning.
While the rolls are baking, prepare the icing. In a bowl, blend together the powdered sugar, softened cream cheese, and milk. Mix until smooth, adding more milk as needed to reach your desired consistency.
Once the cinnamon rolls are out of the oven, allow them to cool for about 10 minutes before drizzling the creamy icing generously over the top.