Using either microwave or small saucepan, heat milk until warm. (Note: The milk should only be lukewarm, not hot.)

Stir yeast into warm milk; let stand for 5 minutes.

Using an electric mixer, add the flour, sugar and salt. Stir until well combined.

Add eggs and milk/yeast mixture; stir until well combined.

Add peanut butter. Mix on low speed until well combined. Increase speed to medium and mix for 4-5 more minutes.

Grease a large bowl with butter or oil. Place dough in bowl and cover with towel. Let sit in warm spot until doubled in size (~1 hour).

Working on a lightly floured surface, fold dough several times and then let sit for 15 more minutes (covered).

Using a medium mixing bowl, add both sugars and cinnamon; stir until well combined. Set mixture aside.

Working on a well-floured surface, roll the dough into a rectangle approximately 10”x16”.

Spread the peanut butter evenly on top of dough and then brush the top of the peanut butter with the melted butter. Sprinkle top with cinnamon/sugar mixture.

Roll dough into a cylinder, pressing edges to seal.

Using a sharp knife, cut dough into 8 pieces.

Place cut rolls onto a greased baking pan leaving a lot of room between them to grow. (Note: I used 2 baking pans for 8 rolls. You could also slice this dough into 16 smaller rolls, but you’ll need to reduce the baking time slightly.)

Cover pan lightly and leave in warm spot until approximately doubled in size. (~40 minutes).

Preheat oven to 375°F.

Bake rolls for 17-20 minutes, or until golden brown in color.

While rolls are baking, use a handheld mixer to beat together cream cheese and powdered sugar.

Add peanut butter; beat until well-combined.

Add whipped topping; beat until well combined.

Let rolls cool slightly before spreading frosting on top.