Add the warm milk and yeast to a bowl and let stand for 5 minutes.

Stir in the granulated sugar, melted butter, eggs, and salt.

Add the flour gradually and mix until a soft dough forms.

Knead the dough on a floured surface for 5 minutes until smooth.

Place the dough in a greased bowl and cover.

Let the dough rise for 1 hour or until doubled in size.

Roll the dough into a large rectangle on a floured counter.

Spread the softened butter evenly over the dough.

Mix the brown sugar and cinnamon in a small bowl.

Sprinkle the cinnamon sugar mixture evenly over the buttered dough.

Roll the dough tightly from the long side to form a log.

Cut the log into 12 rolls using a sharp knife or floss.

Place the rolls into a greased round baking dish.

Cover the dish and let the rolls rise for 30 minutes.

Preheat the oven to 350 degrees Fahrenheit.

Bake the rolls for 20 to 25 minutes until lightly golden.

Stir the powdered sugar, milk, and vanilla to make the glaze.

Drizzle the glaze over the warm rolls.

Serve warm.