Warm one cup of milk in a small saucepan until it's just lukewarm (about 110°F or 43°C). In a mixing bowl, sprinkle the active dry yeast over the warm milk and let it froth for about 5 minutes. Then, add 1/4 cup of granulated sugar, 1/4 cup of melted butter, and 2 large eggs, mixing until combined to form a creamy base for your dough.

In a separate large mixing bowl, whisk together 3 1/2 cups of all-purpose flour, 1 teaspoon of salt, and 1 tablespoon of ground cinnamon. Gradually add the dry mixture to your wet ingredients, mixing with a wooden spoon or spatula until a shaggy dough forms.

Knead the dough on a lightly floured surface for about 5–7 minutes until it’s smooth and elastic. Place the kneaded dough in a greased bowl, cover it with a clean kitchen towel, and let it rise in a warm area for about 1 hour or until it has doubled in size.

After the dough has risen, gently punch it down to release air. Roll it out on a lightly floured surface into a large rectangle, approximately 16x12 inches. Spread 1/4 cup of softened butter evenly over the dough, then sprinkle the cinnamon and sugar filling evenly across the surface.

Starting from one long edge, carefully roll the dough tightly into a log shape. Once rolled, use a sharp knife or dental floss to slice the log into 12 equal pieces. Place each slice in a greased baking dish and cover with a towel again for about 30 minutes.

Preheat your oven to 350°F (175°C). Once the rolls have risen nicely, bake them for about 25 minutes or until they're golden brown on top.

While the rolls are baking, prepare the glaze by whisking together 1 cup of powdered sugar, 1/2 teaspoon of vanilla extract, and enough milk (about 2-4 tablespoons) to achieve a smooth, pourable consistency. Once the rolls are out of the oven, drizzle the glaze over the top.