01 - Combine warm milk and yeast in a large bowl. Let stand for 5 minutes until foamy. Add sugar, melted butter, eggs, and salt, mixing well.
02 - Gradually incorporate flour into the wet ingredients. Knead by hand or stand mixer for 5–7 minutes until a smooth, elastic dough forms.
03 - Transfer dough to a greased bowl, cover with plastic wrap or damp towel. Place in a warm, draft-free area for 1 hour until doubled in volume.
04 - While dough rises, combine brown sugar and cinnamon in a small bowl. Set aside.
05 - Punch down risen dough. On a floured surface, roll into a 16x12-inch rectangle. Spread softened butter evenly over dough, then sprinkle cinnamon sugar mixture across the surface.
06 - Roll dough tightly from the longer edge. Slice into 12 equal portions using sharp knife or dental floss. Pinch the bottom of each roll into a point and press a small indent at the top center to form heart shapes.
07 - Arrange rolls in a greased 9x13-inch baking pan. Cover and let rise for 30–40 minutes until puffy and nearly doubled.
08 - Preheat oven to 350°F. Bake rolls for 22–25 minutes until tops are golden brown and centers are set. Cool in pan for 10 minutes.
09 - Beat cream cheese and butter until smooth and creamy. Add powdered sugar, vanilla, milk, and food coloring. Mix until fully combined and uniformly pink.
10 - Spread pink icing generously over warm rolls. Serve immediately while still slightly warm.