Activate the yeast: In a bowl, mix warm milk with active dry yeast. Let it sit for about 5 to 10 minutes until it becomes frothy.

Make the dough: In a large mixing bowl, combine the flour, granulated sugar, salt, melted butter, eggs, and the yeast mixture. Stir everything together until it forms a dough.

Knead the dough: Transfer the dough to a floured surface and knead it for about 5 to 10 minutes.

First rise: Place the kneaded dough in a greased bowl, cover it, and let it rise in a warm place for 1 to 1.5 hours.

Prepare the filling: Mix the brown sugar and ground cinnamon in a small bowl.

Roll out dough: After rising, punch it down and roll it out on a floured surface into a rectangle about ¼ inch thick.

Spread butter: Spread the softened butter over the rolled-out dough.

Add filling: Sprinkle the sugar and cinnamon mixture over the buttered dough.

Roll it up: Tightly roll the dough into a log shape.

Slice into rolls: Cut the log into 12 equal pieces.

Second rise: Place the cut rolls into a greased baking dish and let them rise for another 30 to 45 minutes.

Preheat oven: Preheat your oven to 350°F (175°C).

Bake: Bake for 25 to 30 minutes, or until golden brown on top.

Cool: Allow the rolls to cool for about 10 minutes in the baking dish.

Make glaze: Whisk together the powdered sugar, milk, and vanilla until smooth.

Drizzle glaze over warm rolls: Drizzle the glaze over the warm rolls.