Stir the warm milk, yeast, and a teaspoon of sugar together in a large bowl. Allow the mixture to sit until foamy.
Add the remaining sugar, melted butter, salt, and eggs. Mix until smooth.
Slowly add the flour and stir until a soft dough forms.
Knead the dough on a lightly floured surface for 8–10 minutes until elastic and smooth.
Place the dough in a greased bowl, cover, and let rise for about 1 hour or until doubled in size.
Mix the brown sugar and cinnamon in a small bowl.
Roll the dough into a large rectangle.
Brush with melted butter and evenly sprinkle with the cinnamon-sugar mixture.
Scatter blueberries across the dough.
Roll the dough tightly into a log and seal the edge.
Cut into 12 equal portions and place in a greased baking dish.
Cover and let rise for another 30 minutes.
Bake at 350°F (175°C) for approximately 25 minutes or until golden brown.
Beat together the frosting ingredients until creamy and smooth.
Spread over warm rolls before serving.