Warm the milk and mix the dough

• Warm the milk in a small pot on the stove until lukewarm.
• Pour the milk into a large mixing bowl and add the butter, sugar and salt, then sprinkle the yeast on top.
• Add the eggs and gradually stir in the flour.

Knead the dough

• Keep adding flour until the dough is too thick to stir, then start kneading.
• Knead for about 5 minutes, adding flour as needed, until the dough is smooth and elastic.

First rise

• Cover the bowl and let the dough rise until doubled in size.

Punch down and second rise

• Oil your hands with olive oil and punch down the dough.
• Oil the bowl, flip the dough over so the smooth side is on top, and let it rise again until doubled in size.

Preheat the oven

• Preheat the oven to 400 °F (200 °C).

Roll out and fill the dough

• Place the risen dough on a floured surface and roll it into a large rectangle with a rolling pin.
• Spread the softened butter evenly over the dough.
• Sprinkle a generous, even layer of cinnamon over the butter, then spread the brown sugar evenly on top.

Shape the rolls

• Roll the dough rectangle evenly into a long log.
• Cut the log into 1-inch slices using a piece of thread.

Final rise

• Place the slices in an oiled pan, cover with a cloth and let them rise.

Bake

• Bake in the preheated oven.
• Remove from the oven and let the rolls cool.

Make the icing

• In a mixing bowl, beat the butter with a hand mixer.
• Add the vanilla, milk and powdered sugar, adding the sugar slowly to avoid a mess, and beat until smooth.
• Add as much milk as needed to reach the right consistency.

Ice and serve

• Ice the cooled rolls and enjoy.