Make the dough: In a small cup, mix together the yeast with the milk and a pinch of granulated sugar. Let the mixture sit in a warm place until bubbly/foamy, about 10 minutes.
In a small bowl, whisk together the flour, remaining tablespoon of sugar, and salt in a small bowl. Stir the yeast mixture into the flour, followed by the melted butter. Stir until a dough forms and then lightly knead with your hands for about 5 minutes. If your dough is sticky, add up to one additional tablespoon of flour.
After lightly kneading, form the dough into a ball and transfer it back to the bowl. Cover the dough loosely with plastic wrap, a paper towel, or aluminum foil and let sit in a warm place for 20-30 minutes.
Make the filling: While the rolls are rising, make the filling. Add the melted butter, light brown sugar, cinnamon, and cloves to a small bowl and stir until combined. Set aside.
Grease the bottom and sides of a rounf 6-inch baking pan or pan of an equivalent size. (Optional: sprinkle up to a tablespoon of brown sugar on the bottom of the pan for rolls with a lightly caramelized bottom.) Turn the risen dough out onto a lightly floured work surface, punch it down and, using a rolling pin, roll into an 8×4-inch rectangle. Make sure the dough is smooth and evenly thick.
Spread the cinnamon sugar filling all over the dough. Tightly roll up the dough to form an 8-inch-long log and cut into 4 even rolls. Arrange them in the prepared baking pan. Cover the pan and allow the rolls to rise for 15-20 minutes.
Preheat oven to 400°F (200°C).
Bake the rolls for 13-15 minutes, until the rolls are lightly golden brown on top and cooked through. Remove pan from the oven and allow to cool on a wire rack for about 10 minutes as you make the frosting.
Make the frosting: In a small bowl, whisk the softened cream cheese until creamy. Add the remaining icing ingredients to the bowl and whisk until smooth and combined. If the icing is too thin, add a little more powdered sugar; if it's too thick, add more milk. Spread icing over warm rolls.