Activate yeast by combining warm milk with active dry yeast and letting it sit until frothy.

Mix dry ingredients: whisk together flour, sugar, cinnamon, and salt.

Combine yeast mixture with the dry ingredients, melted butter, and eggs. Mix until dough forms.

Knead the dough on a floured surface for about 10 minutes until smooth and elastic.

Shape dough into a ball, place in a greased bowl, cover, and let rise for about 1 hour.

Roll out the dough into a 12x18 inch rectangle, spread with butter, and sprinkle with cinnamon and brown sugar.

Roll tightly into a log, pinch seam, and cut into 12 equal pieces. Arrange in a greased baking pan.

Cover and let rise for an additional 30 minutes, preheating oven to 350°F.

Bake rolls for approximately 25 minutes or until golden brown.

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