Warm the milk and butter

• Heat the butter and milk in a saucepan for 3 minutes.
• Let the mixture sit for 10 minutes before using.

Activate the yeast

• In a bowl, combine the yeast, sugar, salt and water.
• Pour in the warm milk and butter mixture and mix.
• Let it sit for 5 minutes until foamy.

Make the dough

• Add 3 cups of flour to the yeast mixture along with the eggs.
• Mix well, then add the remaining 3 1/2 cups of flour for about 6 1/2 cups total.
• Mix until a dough forms.

Let the dough rise

• Place the dough in a bowl, cover it and put it somewhere warm.
• Let it rise until doubled in size.

Roll and fill

• Turn the dough onto a floured surface and cut it in half to make two batches.
• Roll each half out and spread melted butter over it.
• Sprinkle generously with brown sugar and cinnamon.

Shape the rolls

• Roll the dough up tightly and neatly.
• Cut it into swirls using a piece of string, twisting to slice cleanly.
• Place the rolls in baking dishes.

Second rise

• Let the shaped rolls rise a little more.

Bake

• Bake at 350 °F for about 15 minutes.

Make the icing

• Whisk the melted butter, powdered sugar, vanilla and milk together until smooth.
• Spread over the warm rolls.