01 - Combine warm milk and yeast in a large bowl. Let sit for 5 minutes until foamy. Add sugar, melted butter, eggs, and salt. Gradually mix in flour, kneading until a soft dough forms (about 5–7 minutes).
02 - Place dough in a greased bowl, cover, and let rise in a warm place until doubled, about 1 hour.
03 - In a small bowl, mix brown sugar and cinnamon until well combined.
04 - Punch down the dough. On a floured surface, roll into a 16x12-inch rectangle. Spread with softened butter, then sprinkle evenly with cinnamon sugar mixture.
05 - Roll up tightly from the longer side. Slice into 12 equal pieces. To create a heart shape, pinch the bottom of each roll and slightly indent the top center.
06 - Arrange rolls in a greased 9x13-inch baking pan. Cover and let rise for 30–40 minutes until puffy.
07 - Preheat oven to 350°F. Bake for 22–25 minutes, until golden brown. Let cool slightly.
08 - Beat cream cheese and butter until smooth. Add powdered sugar, vanilla, milk, and food coloring. Mix until creamy and pink.
09 - Spread pink icing over warm rolls. Serve immediately.