In a small bowl, add active dry yeast and lukewarm milk and 2 tbsps sugar. Allow yeast to bloom for 10 minutes. In a stand mixer with the dough hook attachment, yeast mixture, cinnamon, flour, vanilla extract, salt, and brown sugar. Mix for 6-8 minutes, starting on low and gradually increasing to medium high speed when dough begins to form. Add butter, 1 tbsp at a time.
Add dough to a well oiled bowl and cover with a towel or plastic wrap. Allow dough to rise for an hour in a warm place until it has doubled in size.
While dough is rising, chop pears and add to a sauce pan. Also add pears, sugar, cinnamon, lemon juice, and a pinch of salt. Bring to a boil and boil for 5 minutes. Reduce heat to medium low and add ¼ cup water and simmer until pears are soft. Set aside and allow to cool.
Preheat oven to 350 degrees F.
Add dough onto a floured work surface and roll into a 12 by 18 inch rectangle. Add pear filling to dough and spread evenly across. Roll dough into the log and cut into 1.5 inch pieces and add to a baking pan (9 x 13). Cover with a towel and let rise for 30 minutes.
Bake for 25 minutes, until golden brown. Allow to cool.
To make the cream cheese frosting, combine cream cheese, butter, vanilla extract, powdered sugar, and water. Mix with a hand mixer until smooth. Slater on top of cinnamon rolls.
Eat!