Prepare Dough: In a small bowl, combine ¾ cup of warm milk and 2 ¼ teaspoons of active dry yeast; let it sit for about 5 minutes until foamy. In a larger mixing bowl, blend together ½ cup melted unsalted butter, ¼ cup granulated sugar, 2 large eggs, and ½ teaspoon salt. Gradually add the yeast mixture, then incorporate all-purpose flour until a soft dough forms. Knead the dough for 5-7 minutes until it’s smooth and elastic, then let it rise covered in a warm place for about 1 hour or until doubled in size.

Make Filling: While the dough is rising, prepare the filling by mixing 1 cup of brown sugar and 2 tablespoons of ground cinnamon in a bowl. Set this mixture aside.

Shape Rolls: Once the dough has risen beautifully, punch it down and roll it out to about ½-inch thickness. Spread ½ cup of softened unsalted butter evenly across the rolled-out dough, sprinkle the cinnamon-sugar mixture over the top, roll into a log, and slice into 12 equal pieces. Place each roll in a greased baking dish.

Final Rise: Cover the arranged cinnamon rolls and let them rise for another 30 minutes. Preheat your oven to 350°F (175°C).

Bake: Bake in the preheated oven for 25-30 minutes, or until golden brown. Keep an eye on them to catch that perfect golden hue.

Glaze: While baking, prepare a glaze by whisking together 1 cup of powdered sugar, 2 tablespoons of milk, and ½ teaspoon of vanilla extract until smooth. Drizzle over the warm rolls.