Spray a 13x9-inch baking pan with cooking spray.

Lightly punch down Cinnamon Roll Dough. Cover and let stand for 5 minutes. Turn out dough onto a lightly floured surface, and roll into an 18x12-inch rectangle.

In a small bowl, stir together brown sugar, ½ cup plus 2 tablespoons (141 grams) butter, and cinnamon. Spread mixture onto dough, leaving a ¾-inch border on one long side. Starting with long side opposite border, roll dough into a log. Trim ends. Using unscented dental floss, score dough into 12 slices (about ½ inches each); place floss under log, lining up with scores, and bring floss together quickly to create an even cut. (Alternatively, using a serrated knife, slice log into 12 rolls [about 1½ inches each].) Tuck ends under rolls, and place rolls, tucked end down, in prepared pan. Let rise in a warm, draft-free place (75°F/24°C) until puffed and rolls are touching, 30 to 45 minutes.

Place a sheet of foil on bottom rack of oven. Preheat oven to 350°F (180°C).

Pour warm cream over rolls in pan.

Bake until golden brown and an instant-read thermometer inserted in center registers 190°F (88°C), about 25 minutes. Let cool in pan for 10 minutes.

In the bowl of a stand mixer fitted with the paddle attachment, beat cream cheese and remaining 1½ tablespoons (21 grams) butter at medium speed until creamy, 4 to 5 minutes. With mixer on low speed, gradually add confectioners’ sugar, beating until fluffy. Stir in milk until combined. Spread icing onto warm rolls.