Combine warm milk and sugar in a bowl, sprinkle yeast on top, and let sit 5–10 minutes until foamy.
Add melted butter, eggs, salt, and flour. Mix and knead 8–10 minutes until smooth and elastic.
Place dough in a greased bowl, cover, and let rise 1 hour until doubled.
Mix brown sugar and cinnamon for the filling.
Roll dough into a large rectangle about ¼-inch thick and spread softened butter over it.
Sprinkle cinnamon sugar evenly across the surface.
Roll tightly into a log and slice into 1-inch rolls.
Arrange in a greased baking dish, cover, and let rise 30 minutes.
Bake at 350°F (175°C) for 18–22 minutes until lightly golden and soft.
Whisk glaze ingredients until smooth.
Drizzle or brush glaze over warm rolls.