Combine warmed milk and yeast in a small bowl; let sit for 5 minutes.

In a large bowl, whisk flour, sugar, and salt; create a well and add yeast mixture, melted butter, eggs, and vanilla.

Stir until a soft dough forms, then knead on a floured surface for 5-7 minutes.

Place dough in a greased bowl, cover, and let rise for 1 hour until doubled.

Roll out dough into a rectangle, spread softened butter over it.

Mix brown sugar and cinnamon; sprinkle over the buttered dough.

Roll dough tightly from one edge and slice into 12 pieces.

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

Preheat oven to 350°F (175°C) and bake rolls for 20-25 minutes until golden brown.

Prepare icing by mixing powdered sugar and milk until smooth; drizzle over warm rolls.