Combine warm milk, a teaspoon of sugar, and yeast in a small bowl. Let sit for 5-10 minutes until bubbling and foamy, indicating proofing.
1/2 cup warm milk, 1/2 cup granulated sugar, 1 package active dry yeast
In a large mixing bowl, whisk together flour, remaining sugar, and melted butter. Add the eggs and the proofed yeast mixture. Mix until a soft dough forms.
2 ½ cups all-purpose flour, 1/4 cup unsalted butter, 1 large egg
Knead the dough on a floured surface for about 5-7 minutes until smooth and elastic. Place in a greased bowl, cover with a damp towel, and let rise in a warm area for 1 hour or until doubled in size.
2 ½ cups all-purpose flour
On a lightly floured surface, roll the risen dough into a rectangle approximately 16x12 inches. Spread the softened butter evenly over the surface. Mix the brown sugar and cinnamon, then sprinkle this mixture over the buttered dough.
1/2 cup brown sugar, 2 tablespoons ground cinnamon, 1/4 cup unsalted butter
Starting from the long edge, carefully roll the dough tightly into a log. Slice into 8 equal pieces and place them in a greased baking dish. Cover and let rise for another 30 minutes until puffy.
Preheat the oven to 375°F. Bake the cinnamon rolls for 20-25 minutes until golden brown and filling is bubbling. Remove from oven and let cool slightly.
Prepare the glaze by mixing powdered sugar with milk until smooth. Drizzle the glaze over the slightly cooled cinnamon rolls to finish.
1 cup powdered sugar, 2 tablespoons milk
