In a bowl, combine warm milk and yeast; let sit until frothy (5 minutes). Whisk in sugar, melted butter, and eggs.

In another bowl, mix flour, salt, and cinnamon. Gradually combine with wet ingredients until a soft dough forms. Knead on a floured surface for about 5 minutes.

Place dough in a greased bowl, cover with a damp cloth, and let rise in a warm area until doubled (about 1 hour).

Roll out the dough into a rectangle (½ inch thick). Spread softened butter on top and sprinkle with cinnamon-sugar mixture.

Roll tightly into a log, slice into equal pieces (about 2 inches), and place in a greased baking dish. Let rise again for about 30 minutes.

Preheat oven to 350°F (175°C) and bake rolls for about 25 minutes until golden brown.

For the glaze, whisk together powdered sugar, vanilla extract, and milk until smooth. Drizzle over warm rolls before serving.