In a small bowl, combine warm milk and yeast. Allow it to sit for about 5 minutes until foamy.

In a large mixing bowl, whisk together melted butter, sugar, eggs, and salt. Gradually add the yeast mixture.

Slowly incorporate flour until a soft dough forms. Knead for about 5-7 minutes until smooth. Cover with a damp cloth and let it rise in a warm place for about 1 hour.

In a bowl, mix brown sugar and ground cinnamon.

After the dough has doubled in size, punch it down and roll it out into a rectangle on a floured surface until about ½-inch thick.

Spread softened butter over the surface and sprinkle the cinnamon-sugar mixture evenly.

Roll the dough tightly from one end to the other. Slice into 12 equal pieces and arrange them in a greased baking dish.

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

Preheat the oven to 350°F (175°C) and bake for 25-30 minutes, or until golden brown.

While the rolls bake, whisk together powdered sugar, milk, and vanilla extract until smooth.

Once the rolls are out of the oven, drizzle with glaze and let cool for a few minutes before enjoying!