With a liner in your Instant Pot, add milk, oil, and sugar and stir well.
Use your yogurt setting (not available on some models...I have an Instant Pot DUO 6 quart) and press the "adjust" button until you see "boil" on your screen. Place a lid on your pot if you have one and allow the boil cycle to complete, about 10-15 minutes. It helps to whisk your milk every 3-5 minutes during this process.
Once your boil cycle is complete (your pot will beep when it's done), test the milk. It shouldn't be boiling, but should feel warm if you hold your hand above it and should be giving off some steam. If it's not, do another boil cycle, covering your pot while it heats and stirring regularly.
Once your milk is as warm as needed, allow it to cool. I like to set mine on our stove so it can cool from the bottom too on the stove grate. It will need to cool to where it's luke warm (but not hot) to the touch before moving on to the next step - if you have a digital thermometer, it needs to be under 110 degrees.
Once the milk is cool, sprinkle your yeast on top and let it activate for a minute or two. It should start to smell "yeasty" after a few seconds.
While the yeast activates, mix together dry ingredients (flour, baking powder, baking soda, and salt).
Add dry ingredients into the milk/yeast mixture to form a dough (about a cup at a time). The dough shouldn't be mushy or wet once all dry ingredients are added.
Then, put the inner liner back in your Instant Pot to allow your dough to rise. To do this, use the yogurt setting and select the 8-hour option (you won't let it rise for this long, but this is the lowest automatic setting).
Allow dough to rise for at least an hour (you can do it for a few hours if desired). You might have to poke it down with a fork a couple of times to keep from overflowing.
Once dough has risen, refrigerate dough for an hour or two to make for easier handling. I usually like to refrigerate dough overnight before moving on to the next step.
Once dough is cooled, plop (very technical term ;) ) half of your dough onto a floured surface and sprinkle with a little bit more flour.
Knead dough until it is firm and easier to work with. Add more flour if needed.
Then, roll out into a very long piece. I usually make mine about 2 feet by 1 foot, with a thickness of maybe 1/4".
Next, make your filling. To do this, microwave 2 8oz blocks of cream cheese and 3 sticks butter in 30 second increments until melted. Once melted, mix in 2 cups sugar and 1/3 cup cinnamon. Blend well.
Spread half of the filling mixture on your first rolled half of dough.
Then, gently, roll the end of the dough away from you into a log.
Cut log into 1" pieces and fill your greased containers.
Allow rolls to rise for 15-20 minutes while you preheat your oven to 375 degrees.
Once rolls rise, bake for 20ish minutes, or until tops of rolls start to turn golden brown. Repeat for the other half of the dough and filling.
While rolls bake, mix your frosting. Microwave 1 8oz block of cream cheese and 1/2 stick butter for 30 seconds or so, until stirrable. Microwave another 30 seconds if needed. Once you can stir easily, add in powdered sugar, vanilla extract, milk, splash of coffee, and pinch of salt. Whisk together well, until there are no lumps.
Once your rolls are out of the oven, pour frosting over while still warm. You'll want it to get all in those nooks and crannies...that's what makes it good! Serve warm.