Heat the milk to 95 degrees in the microwave or in a saucepan. Add the milk and sugar to a stand mix bowl. Stir together with a spoon, then sprinkle the yeast over the mixture. Let it sit until foamy, about 5 minutes.
Add the butter, eggs, and salt and mix with hook attachment on low. Beat in the flour and increase speed to medium. Continue beating for 3 minutes, or until a soft dough forms.
Increase the speed to medium-high and beat the dough for 10 minutes. If the dough is too sticky, add a little more flour by the spoonful.
Form the dough into a ball and place in a greased bowl. Cover with plastic wrap and place in a warm spot to rise for 1 hour, or until double in size.
Line the bottom of a 9×13 pan with parchment paper and spray with cooking spray. Sprinkle a little flour on the counter top and place the dough ball on top. Roll into a 10×24 inch rectangle.
Combine sugar and cornstarch in a small bowl. Sprinkle the mixture evenly over the dough, leaving about an inch of space along the bottom length of the rectangle. Sprinkle the frozen blueberries over the sugar and cornstarch.
Tightly roll the dough to form a 24-inch log. Working quickly, cut the dough log in half, then cut each of those two pieces in half, making four separate dough logs. Cut each dough log into 4 evenly sized slices. Place each roll in the prepared pan, cut sides up.
Cover the pan with plastic wrap and let rise for 2 hours.
Preheat the oven to 400 degrees and bake the rolls for 20 minutes, or until golden and bubbly. Cool on a wire rack for 30 minutes before adding the glaze.
Prepare the glaze by whisking together the powdered sugar, heavy cream, lemon juice, and vanilla. Drizzle the glaze over the rolls and serve.