Activate the Yeast: Dissolve the rapid rise yeast in ¼ cup of warm water and set aside.
Warm the Liquids: In a small saucepan, gently warm the milk and eggnog until it's lukewarm but not hot.
Mix the Dough: In a large mixing bowl, combine melted butter, sugar, eggs, and the yeast mixture.
Slowly add the flour and warm milk mixture, stirring until combined.
If using an electric mixer with a bread hook, mix on low until the dough forms.
Flour your hands and remove the dough.
Knead the Dough: On a floured surface, knead the dough for about 5 minutes until it's soft and elastic.
Place the dough in a greased bowl, cover it with a towel, and let it rise for 1 ½ hours until it doubles in size.
When doubled, punch down the center and prepare a floured surface to roll the dough.
Roll It Out: Roll it out on a floured surface into a 15x9 inch rectangle.
Brush the entire surface of the dough with melted butter.
Add the Filling: In a small bowl, mix sugar and cinnamon, and generously sprinkle it over the butter.
Roll and Slice: Starting from the long side, tightly roll the dough into a log. Slice into 12-15 rolls and place them in a greased baking dish.
Place cinnamon roll slices an inch or two apart in a baking dish.
Second Rise: Cover the rolls and let them rise for another 45 minutes, or refrigerate overnight for a stress-free morning bake.
Bake: Preheat the oven to 350°F and bake the cinnamon rolls for 25-30 minutes, or until they are lightly golden.
Make the Icing: While the cinnamon rolls bake, whip up the eggnog cream cheese icing by combining all icing ingredients and mixing on high until smooth and fluffy.
Frost and Enjoy: Spread the icing generously over the warm cinnamon rolls and enjoy every bite!