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

In a large bowl, whisk together flour, sugar, salt, and melted butter. Stir in the eggs and the activated yeast mixture until combined.

Cover the bowl with a clean kitchen towel, and let the dough rise for about an hour in a warm place.

Once risen, transfer the dough to a floured surface and roll it out into a rectangle.

Spread softened butter, brown sugar, and cinnamon over the dough.

Roll it up tightly and slice into pieces.

Place the rolls in a lined baking dish, cover them again and let rise for another 30 minutes.

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

Whisk together powdered sugar, milk, and vanilla. Drizzle over the warm rolls and enjoy!