In a large mixing bowl, combine flour, yeast, sugar, and salt.

In a separate bowl, mix the warm milk, melted butter, and eggs.

Gradually pour the wet ingredients into the dry mixture and combine until a soft dough forms.

Turn the dough onto a floured surface and knead for about 5-7 minutes or until the dough becomes smooth and elastic.

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

In a mixing bowl, combine the brown sugar and cinnamon.

Spread the softened butter evenly over the risen dough, then sprinkle the cinnamon-sugar mixture generously on top.

Gently roll the dough into a tight log and slice it into 12 equal pieces.

Place them cut-side up in a greased baking dish.

Cover the rolls and let them rise for another 30 minutes until they puff up.

Preheat the oven to 350°F (175°C) and bake for 25-30 minutes or until they’re golden brown.

Once baked, let the rolls cool slightly while you whisk together the powdered sugar, milk, and vanilla extract for the glaze.

Drizzle it over the warm rolls before serving.