Preheat to oven to 350 degrees F. Grease a 9x13 inch baking dish with melted butter or cooking spray.
In the bowl of a stand mixer, add the vanilla extract, whole milk, melted butter, and eggs. Mix well.
Add ½ cup sugar and self rising flour to the bowl of the stand mixer. Mix until a dough forms.
Turn the dough onto a floured surface. Roll the dough into a 12x18 inch dough. Be generous with the flour as this dough can be sticky.
In a small bowl, add the brown sugar, granulated sugar, and ground cinnamon. Set that aside. Brush the melted butter onto the dough and sprinkle the cinnamon sugar mixture over the dough.
Roll the dough into log. Cut into 12 equal sized pieces.
Bake for 30-35 minutes until lightly golden brown.
While the cinnamon rolls bake, add the powdered sugar, room temperature cream cheese, vanilla extract, and milk to a bowl. With a hand mixer, mix until smooth. When the cinnamon rolls are baked, pour the icing over them and serve.