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

In a large bowl, whisk together flour, salt, and ground cinnamon.

Add melted butter, activated yeast mixture, and vanilla extract to the dry ingredients. Stir until combined to form a sticky dough.

On a floured surface, knead the dough gently for about 5 minutes until smooth and elastic.

Place the dough in a greased bowl, cover, and let rise in a warm place for about 30 minutes or until doubled in size.

In a small bowl, combine brown sugar and ground cinnamon to create your filling.

After the dough has risen, roll it out into a rectangle about 1/4 inch thick. Spread a thin layer of softened butter on top and sprinkle the cinnamon-sugar filling.

Starting at one edge, roll the dough tightly into a log. Cut the log into 6 equal pieces.

Place the rolls in a greased baking dish, cover, and let rise for an additional 20 minutes.

Preheat your oven to 350°F (175°C). Bake the rolls for about 20 minutes or until golden brown.

While the rolls are baking, whisk together powdered sugar and milk until smooth. Drizzle over the rolls once cooled.