In a bowl, combine warm milk, sugar, and yeast. Let sit for about 5-10 minutes till it’s foamy.

In a larger mixing bowl, whisk together flour and salt. Pour in the yeast mixture, melted butter, and eggs. Mix until a soft dough forms.

Lightly flour your countertop and knead the dough for about 8-10 minutes until it’s smooth and elastic.

Place the dough in a greased bowl, cover, and let it rise in a warm place for about 1 hour, or until doubled in size.

In a small bowl, combine brown sugar and cinnamon. In another bowl, soften the butter for spreading.

Once the dough has risen, punch it down and roll it out into a rectangle about 1/4 inch thick. Spread softened butter over the surface and then sprinkle the cinnamon sugar mixture evenly.

Roll the dough tightly from the long edge and slice the roll into 12 equal pieces. Place them in a greased baking dish.

Cover the rolls and let them rise for another 30 minutes.

Preheat your oven to 350°F (175°C). Bake for 25-30 minutes, or until they’re golden brown.

While the rolls are warm, whisk together powdered sugar, milk, and vanilla to make the glaze. Drizzle it over the rolls before serving.