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In a small bowl, dissolve yeast in warm milk with a pinch of sugar. Let sit 5–10 minutes until frothy.
In a large bowl, mix melted butter, sugar, eggs, and salt. Add yeast mixture and combine. Gradually add flour until a soft dough forms.
Knead for 5–7 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise for 1–2 hours, or until doubled.
Make the Filling:
Mix brown sugar and cinnamon in a small bowl. Set aside.
Assemble the Rolls:
Roll dough on a floured surface into a 12x18-inch rectangle.
Spread softened butter evenly over the dough. Sprinkle cinnamon sugar mixture on top.
Roll up dough tightly from the long side and cut into 12 equal rolls.
Bake:
Place rolls in a greased 9x13-inch pan. Cover and let rise 30–45 minutes.
Preheat oven to 350°F (175°C). Bake rolls for 25–30 minutes until golden brown.
Add the Glaze:
Mix powdered sugar, milk, and vanilla until smooth. Drizzle over warm rolls before serving.
Serving and Storage Tips
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