Combine warm milk, yeast, and 2 tablespoons of sugar in a small bowl; stir together until combined. Let sit until foamy, about 5 minutes.

Add salt, 4 cups of the flour, and remaining 2 tablespoons of sugar to the bowl of a stand mixer fitted with the paddle attachment. Beat on low speed until just combined, about 15 seconds.

With mixer running on low speed, add milk mixture, sour cream, butter, molasses, and egg. Beat until dough forms, 1 to 2 minutes.

Switch to a dough hook attachment. Beat on medium-low speed until dough is smooth and elastic, 6 to 9 minutes; add remaining 1/4 cup flour if necessary.

Place dough in a greased bowl, cover, and let rise in a warm place until doubled in size, about 90 to 120 minutes.

Generously spray a 13x9-inch pan. Punch down dough, then roll it into an 18x10-inch rectangle on a floured surface.

Spread butter over dough, leaving a border on one long side. Mix brown sugar, molasses, cinnamon, ginger, and cloves, then sprinkle over the butter. Press down gently to adhere.

Roll dough into a log and slice into 12 even rolls. Place rolls into the pan and let rise in a warm place for 45 to 60 minutes.

Preheat oven to 350°F (175°C). Bake rolls for 25 to 30 minutes. Let cool in the pan on a wire rack for 15 minutes.

For the glaze, beat cream cheese and butter until smooth. Add powdered sugar, vanilla, and milk; beat until desired consistency is reached.