Prepare the Yeast Mixture: Start by dissolving the yeast in warm milk in a large bowl, stirring gently until combined.
Combine Dry Ingredients and Mix Wet Ingredients: In another bowl, combine sugar, butter, salt, eggs, and flour; mix well before adding the milk/yeast mixture into this bowl.
Knead and Let Rise: If using a stand mixer, utilize the dough hook to mix until incorporated; then place the dough in an oiled bowl, cover it, and let it rise in a warm place for about an hour or until doubled in size.
Roll Out Dough and Prepare Filling: Roll out your risen dough on a silicon mat or floured surface; ensure it's about 16-18 inches long by 12 inches wide; next, mix butter, brown sugar, and cinnamon together to create your filling.
Form Rolls and Second Rise: Spread the filling over your rolled-out dough evenly; roll it up tightly from one long edge onwards, cut into slices, place them in an oiled pan, cover with a damp towel, and allow them to rise again for about 30 minutes until doubled in size.
Bake and Frost: Preheat your oven to 350 degrees Fahrenheit; bake rolls for around 20 minutes or until golden brown; while they bake mix icing ingredients until fluffy—then drizzle generously over warm rolls once they're out of the oven!