Preparation Steps

• In a small bowl, combine warm milk, yeast, and 1 tablespoon of the granulated sugar. Let stand for 5-10 minutes, until foamy.
• In a large bowl, whisk together the remaining granulated sugar, eggs, and melted butter. Stir in the yeast mixture.
• Gradually add the flour and salt, mixing until a soft dough forms. Turn the dough out onto a lightly floured surface and knead for 8-10 minutes, until smooth and elastic.
• Place the dough in a greased bowl, cover, and let rise in a warm place for 1-1.5 hours, or until doubled in size.
• While the dough is rising, prepare the filling by mixing together the brown sugar and cinnamon in a small bowl. In a separate bowl, cream the softened butter.
• Once the dough has risen, punch it down and roll it out into a large rectangle, about 12x18 inches.
• Spread the softened butter evenly over the dough, leaving a small border. Sprinkle the cinnamon-sugar mixture over the butter.
• Starting from the long edge, tightly roll up the dough. Cut the roll into 12 equal slices.
• Place the rolls cut-side up in a greased 9x13 inch baking pan. Cover and let rise for another 30 minutes.
• Preheat oven to 375°F (190°C). Bake for 15-20 minutes, or until golden brown.
• While the rolls are baking, prepare the glaze by whisking together powdered sugar, milk, and vanilla extract until smooth.
• Drizzle the glaze over the warm rolls before serving.