In a large mixing bowl, combine 2 cups of the flour, sugar, yeast, and salt. Mix well.

In a separate bowl, combine warm milk and melted butter. Add the eggs and whisk until well blended.

Gradually add the milk mixture to the dry ingredients, stirring until combined. Add the remaining flour, 1/2 cup at a time, until a soft dough forms.

Turn the dough out onto a floured surface. Knead for about 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a clean kitchen towel, and let it rise in a warm place for about 1 hour or until it has doubled in size.

In a small bowl, mix together brown sugar, cinnamon, and softened butter until well combined.

Once risen, punch down the dough and turn it out onto a floured surface. Roll the dough into a rectangle, approximately 15x10 inches.

Spread the cinnamon-sugar mixture evenly over the rolled-out dough, leaving a small border around the edges.

Starting from one long side, tightly roll the dough into a log. Pinch the seam to seal. Cut the log into 12 equal pieces and place them in a greased baking dish, cut side up.

Cover the dish with a towel and let the rolls rise for another 30-45 minutes until puffy.

Preheat your oven to 375°F (190°C). Bake the cinnamon rolls for 20-25 minutes or until golden brown.

While the rolls are baking, whisk together powdered sugar, milk, and vanilla extract in a small bowl until smooth.

Once the rolls are done baking, remove them from the oven and let them cool slightly. Drizzle the icing over the warm rolls.

Enjoy the cinnamon buns warm and fresh!