Step 1: Prepare the Dough
In a mixing bowl, combine the warm milk, sugar, and yeast. Let sit for 5-10 minutes until it foams.
In a large mixing bowl or stand mixer, whisk together the flour and salt.
Add the yeast mixture, melted butter, eggs, and yogurt to the flour. Mix until a sticky dough forms.
Knead the dough in the stand mixer or by hand until smooth (about 5-6 minutes).
Step 2: Roll Out the Dough
Lightly flour a clean surface and roll out the dough into a 12x16-inch rectangle.
Step 3: Add the Cinnamon Filling
Spread the softened butter over the rolled-out dough.
Mix together the brown sugar and cinnamon, then sprinkle it evenly over the buttered dough.
Gently roll up the dough from the longer side, creating a log. Cut into 12 even rolls.
Step 4: Let the Rolls Rise
Arrange the rolls in a greased 9x13-inch baking dish. Cover with a clean towel and let them rise for 30-45 minutes until puffed up.
Step 5: Bake the Rolls
Preheat your oven to 350°F (175°C).
Bake for 20-25 minutes or until golden and cooked through.
Step 6: Prepare the Icing
In a small bowl, whisk together powdered sugar, milk, and vanilla until smooth.
Step 7: Serve
Drizzle the icing over the warm rolls. Serve and enjoy!