Warm the milk, activate the yeast by mixing it with warm milk, and combine it with dry ingredients until a dough forms.
Knead until smooth and elastic, then cover and let it rise in a warm place until doubled in size, about 1 hour.
In a separate bowl, mix together crushed Oreos, cinnamon, and brown sugar until well combined.
Once risen, punch down the dough and roll it out into a rectangle on a floured surface before evenly spreading the filling over it.
Starting from one edge, roll up tightly into a log shape and cut it into 12 equal pieces using a sharp knife or dental floss.
Place each roll in a greased baking pan, cover them loosely with plastic wrap, and let them rise again for 15-20 minutes until puffed up.
Preheat your oven to 350°F (175°C) and bake for 25-30 minutes or until golden brown on top.
In a bowl, beat together softened cream cheese, butter, powdered sugar, vanilla extract, and enough milk to reach your desired consistency.
Once baked rolls have cooled slightly, drizzle them generously with frosting before serving warm!