In a small bowl, combine warm whole milk, instant yeast, and granulated sugar. Stir gently and let sit until frothy (5-10 minutes).

In a large mixing bowl, whisk together all-purpose flour, sugar, and salt. Add melted butter, eggs, and vanilla to the yeast mixture. Combine with dry ingredients until a shaggy dough forms.

Knead the dough on a floured surface for 8-10 minutes until smooth and elastic. Place in a greased bowl, cover with a towel, and let rise in a warm area for about 1 hour.

Prepare the filling by mixing softened butter, brown sugar, and ground cinnamon until smooth.

Roll out the dough into a rectangle, spread the filling evenly, and roll tightly. Slice into 12 equal rolls.

Place rolls in a greased baking dish, cover with a towel, and let rise for another hour.

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

Prepare the tres leches soak by whisking together whole milk, sweetened condensed milk, and evaporated milk.

Once baked, pour the tres leches mixture evenly over the warm rolls. Allow to absorb for at least 30 minutes.

Whisk powdered sugar with milk to create a frosting and drizzle over the soaked rolls before serving.