Warm milk to 110°F. Add yeast and 1 tablespoon sugar. Let sit 5 minutes until foamy.
Add remaining sugar, melted butter, eggs, and salt. Mix well.
Add flour one cup at a time. Mix until soft dough forms.
Knead 8 to 10 minutes until smooth and elastic.
Place in greased bowl. Cover. Rise 1 to 1½ hours until doubled.
Punch down. Roll into 15x20 inch rectangle.
Spread softened butter over dough leaving ½ inch border.
Mix brown sugar, cinnamon, and salt. Sprinkle over butter.
Roll tightly from long side. Pinch seam.
Cut into 12 pieces. Place in greased 9x13 pan.
Cover. Rise 30 to 45 minutes until puffy.
Preheat oven to 350°F.
Pour heavy cream evenly over all rolls.
Bake 25 to 30 minutes until golden.
Make icing while baking. Beat all icing ingredients until smooth.
Cool 5 to 10 minutes. Spread icing over warm rolls. Serve.