Prepare the Dough:

In a small bowl, combine warm milk and yeast. Let sit for 5–10 minutes until frothy.

In a large mixing bowl, combine sugar, melted butter, salt, and eggs. Add yeast mixture and stir to combine. Gradually mix in flour until a soft dough forms.

Knead the Dough:

Knead the dough on a lightly floured surface for 5–7 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise in a warm place for 1–2 hours, or until doubled in size.

Prepare the Filling:

In a small bowl, mix brown sugar and cinnamon. Spread softened butter over the rolled-out dough, then sprinkle evenly with the cinnamon-sugar mixture.

Roll and Cut:

Roll the dough into a 16x12-inch rectangle. Starting from the long side, roll tightly into a log. Cut into 12 even rolls and place in a greased 9x13-inch baking dish.

Second Rise:

Cover rolls and let rise for 30–45 minutes until puffy.

Bake:

Preheat oven to 350°F (175°C). Bake rolls for 20–25 minutes until golden brown.

Prepare the Glaze:

While rolls are baking, whisk together powdered sugar, milk, and vanilla until smooth. Drizzle over warm rolls after baking.

Serve:

Enjoy warm for the best flavor and texture.