Preheat your oven to 350°.
Bake the rolls for 20-25 minutes until golden brown.
While the rolls are baking, make the cream cheese frosting:
In a medium bowl, combine the softened cream cheese, powdered sugar, vanilla, whole milk, and salt. Beat until creamy and smooth.
Remove the cinnamon rolls from the oven and top with the cream cheese frosting while warm. Serve immediately.
Leftovers last, covered, 3 days at room temperature or 5 days in the fridge.