In a large mixing bowl, combine all-purpose flour, granulated sugar, and salt. Create a well in the center.

Gently warm the milk. Add the warmed milk, melted butter, eggs, and vanilla to the well, mixing until a shaggy dough forms.

Lightly flour your countertop and transfer the dough. Knead it for 5–7 minutes until smooth and elastic.

Place the kneaded dough in a greased bowl, cover, and let it rise in a warm space for about 1 hour.

In a small bowl, mix together brown sugar and ground cinnamon for the filling.

After the dough has risen, punch it down and roll it out into a large rectangle about 1/4 inch thick.

Spread melted butter over the dough, then sprinkle the cinnamon-sugar mixture evenly across it.

Roll the dough tightly from one long side to create a log. Cut the rolled dough into 12 equal pieces.

Arrange the cinnamon rolls on a parchment-lined baking sheet in a triangle shape. Allow them to rise for 30 minutes.

Preheat your oven to 350°F (175°C). Bake the rolls for 20–25 minutes until golden brown on top.

Whisk together powdered sugar and milk for the icing until smooth.

Once the cinnamon rolls have cooled for about 10 minutes, drizzle the icing over the top and serve warm.