Activate the Yeast: Combine warm milk with active dry yeast in a small bowl. Let sit for about 5 minutes until frothy.

Mix the Dough Ingredients: Combine melted butter, sugar, eggs, and salt in a mixing bowl, then stir in the yeast mixture.

Form the Dough: Gradually add flour, mixing until a soft dough forms. Knead on a floured surface for 5-7 minutes.

Allow to Rise: Place dough in a greased bowl, cover, and let rise in a warm spot for about 1 hour until doubled.

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

Roll Out the Dough: Punch down the dough, roll into a 16x12 inch rectangle. Spread softened butter over dough.

Add Filling and Slice: Sprinkle the cinnamon-sugar mixture over the buttered dough, then roll tightly and cut into 12 pieces.

Second Rise: Place rolls in a greased baking dish, cover, and let rise for an additional 30 minutes.

Bake the Rolls: Preheat the oven to 350°F (175°C). Bake for 25-30 minutes until golden brown and puffy.

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

Glaze the Rolls: Drizzle the prepared glaze over warm rolls and serve.