Combine warm milk with active dry yeast in a bowl; let it sit for 5 minutes until frothy.

In a separate bowl, whisk melted butter, granulated sugar, eggs, and salt. Gradually add yeast mixture, then mix in flour until a soft dough forms.

Knead dough on a floured surface for 5-7 minutes until smooth and elastic. Place in greased bowl, cover, and let rise for about 1 hour.

Mix brown sugar and ground cinnamon in a small bowl. Once the dough has risen, punch it down and roll it out to a rectangle.

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

Roll the dough tightly into a log and slice into 12 pieces. Place in a greased baking dish.

Cover with a towel and let rise for another 30 minutes while preheating the oven to 350°F (175°C).

Bake for 25-30 minutes until golden brown and fragrant.

While baking, whisk powdered sugar with milk and vanilla until smooth for glaze.

After baking, let rolls cool for 5 minutes before drizzling with glaze.