Pour the milk into a small pot over medium-low heat. Warm the milk to 110° F, then sprinkle the yeast on top. Allow the yeast to activate by stirring within the warm milk for 5-10 minutes.
Transfer the milk and yeast to a bowl, mixing in the maple syrup, room temperature eggs and melted butter.
Slowly fold in the flour and salt until the dough begins to form. Knead with your hands until the dough forms a ball shape. Add more flour in tablespoon increments as needed if the dough is sticking to the bowl.
When ready, roll out the dough into a rectangular shape.
To make the filing, combine the coconut sugar, cinnamon and melted butter in a small bowl, mixing well.
Evenly spread the filling over the rolled out dough.
Tightly roll up the dough, making sure to seal the edges as best you can. Feel free to cut off the ends as they may not contain the filling and/or form a true cinnamon roll.
Cut into 1 inch sections with a serrated knife.
Place cinnamon rolls in a greased baking dish. Allow the cinnamon rolls to rise for 4 hours or overnight by placing a clean towel on top. For best rising, be sure to place the cinnamon rolls in a warm environment.
After the rolls have doubled in size, preheat oven to 350° F. Bake cinnamon rolls for 20-25 minutes or until golden brown on the edges.
While the cinnamon rolls are baking, begin preparing the cream cheese frosting. Combine all the ingredients within a small pan over medium-low heat. Whisk until smooth and fluffy. Be sure not to burn the frosting!
Allow the cinnamon rolls to rest for 5-10 minutes after coming out of the oven, then evenly spread the cream cheese frosting on top. Serve immediately and enjoy!