Whisk the flour, sugar, yeast and salt, then add the warm milk, yogurt and softened butter and mix into a shaggy dough.
Knead for 8 to 10 minutes until smooth and elastic, adding 1 tablespoon of flour at a time only if very sticky.
Place in a greased bowl, cover and let rise for 60 to 90 minutes, until doubled.
Roll the dough into a 14x10 inch rectangle, spread with the very soft butter, then sprinkle evenly with the brown sugar and cinnamon.
Roll up tightly from the long side and cut into 12 rolls using unflavored dental floss.
Arrange in a greased 9x13 inch pan, cover and let rise 30 to 40 minutes until puffy.
Bake at 350 F for 22 to 25 minutes, until golden on top.
Beat the cream cheese, butter, powdered sugar, vanilla and salt until fluffy.
Spread the frosting over the warm rolls and serve.
