In a large mixing bowl, combine 2 cups flour and yeast. In small saucepan, combine milk, water, the 1/2 cup sugar, oil and salt. Heat; stir over medium heat till just warm (120 degrees F to 130 degrees F).
Add milk mixture and egg yolks to dry mixture. Beat with an electric mixer on low to medium speed for 30 seconds, scraping sides of bowl often. Beat on high speed for 3 minutes. Using a wooden spoon, stir in as much of the remaining flour as you can.
Turn dough out onto a floured surface. Knead in enough remaining flour to make a moderately soft dough that's smooth and elastic (3 to 5 minutes). Cover and let rest 10 minutes.
Roll out dough to form a 14x12-inch rectangle. Spread with softened butter or margarine. Sprinkle with a mixture of 1/3 cup sugar and cinnamon.
Roll up, jelly-roll style, starting from long side. Seal seam. Slice into 12 pieces. Place in greased 13x9x2-inch baking pan. Cover; let rise in warm place till nearly doubled (20 minutes).
Bake in a 375 degree F oven for 20 minutes or till golden. Cool slightly; remove from pan. Frost warm rolls with Cream Cheese Icing. Serve rolls warm or cool on a wire rack. Makes 12 servings.
In a small bowl combine cream cheese, butter, and vanilla. Gradually add powdered sugar, beating until smooth. Beat in enough milk, 1 teaspoon at a time, to make spreading consistency.