In a small bowl, combine the warm milk and granulated sugar. Sprinkle the yeast over the top and let it sit for about 5-10 minutes until it becomes frothy.

In a large mixing bowl, whisk together the flour and salt. Add the melted butter, eggs, and the frothy yeast mixture. Mix until a shaggy dough forms.

Turn the dough out onto a floured surface and knead for about 8-10 minutes until smooth and elastic.

Place the dough in a lightly greased bowl, cover it with a clean kitchen towel, and let it rise in a warm place for about 1-1.5 hours or until doubled in size.

In a bowl, combine the brown sugar and ground cinnamon. Once your dough has risen, punch it down and roll it out on a floured surface into a rectangle about ¼ inch thick.

Evenly spread the softened butter over the dough, then sprinkle with the cinnamon-sugar mixture.

Starting from one long edge, roll the dough tightly into a log. Pinch the seams to seal.

Using a sharp knife or dental floss, slice the log into 12 equal pieces. Arrange them in a greased baking dish, leaving a little space for them to rise.

Cover the dish with a towel and allow the rolls to rise again for another 30-45 minutes until puffed.

Preheat your oven to 350°F (175°C).

Bake the rolls for about 25-30 minutes or until they are golden brown on top and a toothpick inserted comes out clean.

In a medium bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth. Drizzle over warm cinnamon rolls when they come out of the oven.