In a small bowl, combine 1 cup of warm milk and 2 teaspoons of active dry yeast. Let sit for 5 minutes until foamy.

In a large mixing bowl, whisk together 1/4 cup of melted unsalted butter, 1/4 cup of granulated sugar, 2 large eggs, and 1 teaspoon of salt until blended. Add the yeast mixture.

Gradually add 3 to 3 1/2 cups of all-purpose flour, mixing until a soft dough begins to form, then knead for 5 to 7 minutes until smooth.

Place kneaded dough in a greased bowl, cover with a towel, and let rise in a warm area for about 1 hour until doubled in size.

Mix together 1/2 cup of brown sugar and 2 tablespoons of ground cinnamon in a small bowl.

Roll the dough into a rectangle, spread 1/4 cup of softened butter, sprinkle the cinnamon-sugar mixture, roll tightly and slice into 12 pieces.

Arrange the rolls in a greased baking dish, cover with a towel, and let rise for another 30 minutes.

Preheat oven to 350°F. Bake cinnamon rolls for 25 to 30 minutes until golden brown.

Whisk together 1 cup of powdered sugar, 2 tablespoons of milk, and 1 teaspoon of vanilla extract until smooth.

Drizzle the glaze over warm cinnamon rolls before serving.