Warm the milk slightly and stir in yeast with a pinch of sugar. Let it sit for 5 minutes until bubbly.
Mix flour, sugar, salt, butter, eggs, and milk mixture until a dough forms. Knead for about 8 minutes until smooth.
Cover and let rise in a warm spot for 1 hour or until doubled in size.
Roll dough into a rectangle, spread with softened butter, and sprinkle with brown sugar and cinnamon.
Roll tightly into a log and slice into 12 rolls. Place in a greased baking dish.
Cover and let rise for 30 minutes. Preheat oven to 350°F (175°C).
Bake for 25 minutes until golden brown. Let cool slightly.
Whisk powdered sugar, milk, and vanilla into a smooth icing. Spread over warm rolls and enjoy.