Creating these cinnamon sugar rolls is a rewarding process. Follow these steps to achieve soft, gooey perfection:

Prepare the Dough:

1. Activate the Yeast: In a small bowl, combine the warm milk and yeast. Allow it to sit for about 5 minutes, or until it becomes frothy.
2. Mix the Dry Ingredients: In a large mixing bowl, whisk together the flour, granulated sugar, and salt.
3. Combine Wet Ingredients: Add the melted butter and eggs to the yeast mixture, then pour this into the dry ingredients. Mix until a soft dough forms.
4. Knead the Dough: Transfer the dough to a floured surface and knead for about 5-7 minutes, or until it becomes smooth and elastic.
5. First Rise: Place the dough in a greased bowl, cover it with a damp cloth, and let it rise in a warm place for about 1-2 hours, or until it doubles in size.

Prepare the Filling:

6. Mix the Filling: In a medium bowl, combine the softened butter, brown sugar, and cinnamon until you have a smooth, spreadable mixture.

Assemble the Rolls:

7. Roll Out the Dough: Once the dough has risen, roll it out on a floured surface into a large rectangle, approximately 16×12 inches.
8. Spread the Filling: Evenly spread the cinnamon sugar mixture over the dough, leaving a small border around the edges.
9. Roll and Slice: Starting from the longer side, tightly roll up the dough into a log. Slice into 12 even pieces using a sharp knife or dental floss.

Second Rise and Bake:

10. Second Rise: Arrange the rolls in a greased baking dish. Cover and let them rise again for about 30 minutes.
11. Preheat and Bake: Preheat your oven to 350°F (175°C). Bake the rolls for 25-30 minutes, or until they are golden brown.

Prepare the Glaze:

12. Make the Glaze: In a small bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth. Adjust the consistency with more milk if necessary.

Final Touch:

13. Glaze the Rolls: Once the rolls are slightly cooled, drizzle the glaze generously over the top.