Homemade Cinnamon Rolls

Dough
½ cup unsalted butter, melted
2 cups whole milk, warm to the touch (110-115˚F) 
½ cup granulated sugar
1 pack active dry yeast
5 cups flour, divided 
1 teaspoon baking powder
2 teaspoons salt

Filling
¾ cup butter, softened
¾ cup light brown sugar
2 tablespoons ground cinnamon

Frosting
4 ounces cream cheese, softened 
2 tablespoons butter, melted
2 tablespoons whole milk
1 teaspoon vanilla extract
1 cup powdered sugar