In a large mixing bowl, combine warm milk, granulated sugar, and active dry yeast. Let sit for 5 to 10 minutes until foamy. Add melted unsalted butter and eggs, mixing well. Gradually stir in flour and salt to form a soft dough.

Transfer dough to a floured surface and knead for about 8 minutes until smooth and elastic. If using a stand mixer, knead for about 5 minutes. Shape into a ball and prepare for the first rise.

Place dough ball in a greased bowl, cover, and let rise in a warm place for 1 to 1.5 hours until doubled in size.

Once risen, punch down the dough and roll out onto a floured surface into a rectangle. Spread softened butter over dough. Mix brown sugar and cinnamon, and sprinkle over the dough.

Starting from the long edge, roll the dough tightly into a log. Cut into 12 equal pieces and place cut-side up in a lined baking dish. Cover and let rise for another 30 to 45 minutes.

Preheat oven to 350°F. Bake rolls for 22 to 28 minutes until golden brown. They should smell heavenly and look slightly domed.

While baking, mix powdered sugar, milk or cream, and vanilla extract in a bowl. For creaminess, blend in cream cheese or softened butter. Adjust for consistency as needed.

Cool rolls for about 5 minutes before pouring glaze over warm rolls. Serve fresh.