In a large mixing bowl, combine the warm milk, yeast, and granulated sugar. Let sit for 5 to 10 minutes until foamy.

Whisk in the eggs, melted butter, and salt. Add 4 cups of flour and mix until a shaggy dough forms.

Turn the dough onto a lightly floured surface and knead for 8 to 10 minutes, adding more flour only if needed, until smooth, soft, and slightly tacky.

Place the dough in a lightly greased bowl, cover, and let rise in a warm spot for about 1 hour, or until doubled in size.

Stir together the brown sugar and cinnamon in a small bowl.

Grease a 9x13-inch baking dish. Punch down the risen dough and roll it into a 16 by 12-inch rectangle on a lightly floured surface.

Spread the softened butter evenly over the dough, then sprinkle the cinnamon-sugar mixture over the top in an even layer.

Starting from one long side, roll the dough tightly into a log and pinch the seam closed.

Slice the log into 12 even rolls and arrange them in the prepared baking dish.

Cover and let the rolls rise again for 30 to 40 minutes, until puffy.

Preheat the oven to 350°F while the rolls finish rising.

Bake for 22 to 25 minutes, until lightly golden on top and cooked through in the center.

Let the rolls cool in the pan for about 10 minutes.

Whisk together the powdered sugar, milk, melted butter, vanilla extract, and salt until smooth.

Spread or drizzle the glaze over the warm rolls and serve.