In a large bowl, combine warm milk (110–115°F), 1/2 cup granulated sugar, and the yeast. Stir once and let sit 5 minutes until foamy.

Whisk the melted butter, eggs, and salt into the foamy yeast mixture until uniform.

Gradually add the 4 cups of flour. Mix until a shaggy dough forms and no large dry pockets remain.

Turn the dough onto a lightly floured surface. Knead 5–10 minutes until the dough is smooth, slightly tacky, and elastic.

Lightly grease a bowl and place the dough inside. Cover with plastic wrap or a damp towel and let rise in a warm spot until doubled, about 1 hour.

Punch down the dough gently to release gas. On a floured surface, roll it into a 12 x 16-inch rectangle.

Spread the 1/4 cup softened butter over the rectangle. Mix the 1/2 cup brown sugar with 2 tablespoons cinnamon and sprinkle evenly.

Roll the dough tightly into a log starting from the long edge. Pinch the seam to seal. Cut into 12 equal rolls.

Arrange the rolls in a greased 9 x 13-inch baking dish. Cover and let rise for 25–30 minutes until puffy.

Preheat oven to 375°F. Bake the rolls for 20–25 minutes, until golden brown on top.

While the rolls are warm, whisk 1 cup powdered sugar, 2 tablespoons milk, and 1 teaspoon vanilla until smooth.

Drizzle the glaze over warm rolls and serve.