Prepare the Dough: In a large bowl, dissolve the yeast in warm water and let it sit for 5 minutes until it’s frothy. Then, add the warm milk, sugar, melted butter, eggs, and salt.

• Slowly add the flour, mixing until a dough forms. Knead the dough on a floured surface for 5-7 minutes until it's smooth and elastic.
• Alternatively, use a stand mixer with a dough hook for easier kneading. Place the dough in a greased bowl, cover it with a clean kitchen towel, and let it rise in a warm place for about 1-2 hours or until it has doubled in size.

Prepare the Filling: In a small bowl, mix the brown sugar and cinnamon together. Set aside. Once the dough has risen, roll it out on a floured surface into a large rectangle (about 16x12 inches). Spread the softened butter evenly over the dough, then sprinkle the cinnamon-sugar mixture on top.

Roll and Cut the Dough: Starting from the long edge, tightly roll the dough into a log. Cut the log into 12 equal slices using a sharp knife or dough cutter. Place the rolls in a greased 9x13-inch baking dish, leaving a little space between each roll. Cover the dish with a towel and let the rolls rise for another 30-45 minutes.

Bake the Rolls: Preheat your oven to 350°F (175°C). Bake the cinnamon rolls for 20-25 minutes or until they are golden brown on top. Watch them closely to make sure they don’t overbake.

Prepare the Glaze: As the rolls bake, prepare the glaze. In a small saucepan, melt the butter. In a medium bowl, whisk together the powdered sugar, melted butter, vanilla extract, and enough milk to achieve your desired consistency.

Glaze the Rolls: Once the rolls are out of the oven, allow them to cool for about 5 minutes before drizzling the glaze generously over the top. Serve warm and enjoy!