Warm up milk in the microwave or stove until it is warm to the touch and not exceeding 110°F. In a large mixing bowl, whisk melted butter and sugar, then sprinkle instant yeast on top and let it stand until foamy, about 10 minutes.
Spread softened butter over dough, then sprinkle cinnamon sugar on top evenly. You want to make sure of two things – to to soften the butter and not melt, and to leave a 1/4 inch margin at the far 12 inch side of the dough.
Starting again at the longest side, roll the dough very tightly, pinch the seam and place the seam side down. Cut with a sharp knife or dental floss. You want to cut the log into 12 pieces by trimming half inch ends first.
Preheat your oven to 350°F and butter large 9 x 13 baking dish. Arrange the rolls and bake for 20-25 minutes or until just lightly golden brown. You do not want to bake whole wheat cinnamon rolls longer, so they stay soft.
Before you frost your cinnamon rolls, make sure to let them cool a bit and only then spread the icing. We are using healthier amount of delicious ingredients like cream cheese, butter, powdered sugar and vanilla.