In a small bowl, combine 1 cup of warm milk with 2 teaspoons of active dry yeast. Let sit for 5-10 minutes until frothy.

In a large mixing bowl, whisk together ¼ cup of melted unsalted butter, ½ cup of granulated sugar, and 2 large eggs. Stir in the yeast mixture.

Gradually add 3 ½ cups of all-purpose flour and 1 teaspoon of salt, mixing until a shaggy dough forms.

Knead the dough on a floured surface for about 5-7 minutes until smooth and elastic.

Shape the dough into a ball, place in a greased bowl, cover with a towel, and let rise in a warm area for about 1 hour.

In a separate bowl, mix together ½ cup of brown sugar and 2 tablespoons of ground cinnamon.

After the first rise, punch down the dough and roll it out into a rectangle, about ¼ inch thick.

Brush the rolled dough with ¼ cup of melted butter.

Sprinkle the cinnamon-sugar mixture evenly over the buttered dough.

Roll the dough tightly from one long side into a log shape. Pinch the seam to seal.

Slice the rolled dough into 12 equal pieces and place in a greased baking dish.

Cover the rolls and let them rise for another 30 minutes in a warm spot.

Preheat your oven to 350°F (175°C).

Bake the rolls for 25-30 minutes until golden brown.

Cool the rolls in the pan for 10-15 minutes.

In a small bowl, whisk together 1 cup of powdered sugar, 2 tablespoons of milk, and 1 teaspoon of vanilla extract until smooth.

Drizzle the icing over the warm rolls.