In a medium bowl add the flour, salt, yeast, sugar and room temperature butter. Mix well with a spoon. ***please see note below if using a stand mixer***
Add the room temperature milk and room temperature yogurt to the flour mixture, mix with a spoon until all of the liquid has been absorbed and the dough begins to come together. Turn the dough out onto a lightly oiled surface and continue bringing the dough together with your hands. Begin kneading the dough, continue kneading until the dough becomes LESS sticky (will stay somewhat sticky) and becomes smooth. I knead the dough for no more than 10 minutes. Place the dough in a lightly greased bowl and cover or place bowl in a proofing bag and leave in a warm place to double in size. I place mine in the oven with ONLY the oven light on, usually takes 1 1/2 to 2 hours. ***Please see note below about proofing***
To make the filling, combine the melted butter, both sugars and the cinnamon, mix until well combined and set aside.
Once the dough has doubled in size, punch the air out and turn out onto a lighly floured surface.
Roll the dough out to a 12x9 rectangle and spread the cinnamon/butter mixture over the top. Divide the dough into 6 strips (I used a pizza cutter to do this), roll each strip up individually and place into a lightly greased baking dish or pan. Cover or return to the proofing bag and leave in a warm place to double in size (about 45 minutes depending on how warm the environment is.)
Here is a video of forming the rolls if you need a visual
Once the rolls have doubled in size, preheat the oven to 350℉ and bake for 30 minutes or until golden brown.
While the rolls are cooling, the cream cheese frosting can be made. In a medium bowl combine the powdered sugar, cream cheese, vanilla and heavy cream. Blend with a hand mixer until fully combined and creamy.
Spread the frostiing over warm rolls and serve.