1. In a large mixing bowl, combine warm milk, sugar, and yeast. Let it sit for 5 minutes until frothy.
2. Add melted butter, eggs, and salt to the yeast mixture. Gradually add flour and mix until a dough forms.
3. Knead the dough for about 5-7 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise for 1 hour.
4. Roll out the dough on a floured surface into a rectangle. Spread softened butter over the dough, then sprinkle with brown sugar and cinnamon.
5. Roll up the dough tightly and cut into 12 rolls. Place in a greased baking pan, cover, and let rise for 30 minutes.
6. Preheat oven to 350°F (175°C). Bake the rolls for 25 minutes or until golden brown.
7. Mix powdered sugar, milk, and vanilla extract to make the glaze. Drizzle over warm rolls.