Activate the Yeast:
In a small bowl, combine warm milk and sugar. Stir until sugar dissolves, and sprinkle yeast on top. Let it sit for about 5 minutes until frothy.

Make the Dough:
In a large mixing bowl, add melted butter and eggs to the yeast mixture. Gradually mix in flour and salt until a dough forms. Knead for about 5 minutes until smooth and elastic. If the dough is too sticky, add more flour.

Let the Dough Rise:
Place the dough in a greased bowl, cover it with a cloth, and let it rise in a warm place for about 1-1.5 hours or until it doubles in size.

Roll Out the Dough:
Once the dough has risen, punch it down. On a floured surface, roll the dough into a rectangle, about 1/4 inch thick.

Prepare the Cinnamon Filling:
In a separate bowl, mix brown sugar and cinnamon. Spread softened butter evenly over the dough, then sprinkle the cinnamon-sugar mixture on top.

Roll and Slice:
Roll the dough tightly from one edge to the other, forming a log. Slice the log into 12-16 rolls, depending on your preferred size.

Second Rise:
Place the rolls in a greased 9×13-inch pan. Cover with a cloth and let rise for another 30-60 minutes.

Bake the Rolls:
Preheat the oven to 375°F (190°C). Bake for 18-22 minutes, or until golden brown.

Make the Icing:
While the rolls bake, combine powdered sugar, softened butter, vanilla, and milk to create the icing. Adjust the milk for your preferred consistency.

Drizzle the Icing:
Once the rolls are baked and slightly cooled, drizzle the icing over them.