Sprinkle yeast into warm milk and mix in with a fork.
In a small bowl combine sugar and salt.
Stir in milk, add beaten eggs. Mix in very soft butter to incorporate.
Adding 1 cup at a time- sprinkle flour over mixture and gently stir in until dough becomes sticky and starts to pull away from sides of bowl. You may not need to use all of the flour- dough needs to be as sticky as possible.
Smooth dough into a ball, rub with melted butter and place in buttered bowl.
Cover and let rise in warm location until double in size.
Lightly knead dough then, working as little as possible, roll dough into a rectangle on a floured surface to approximately 1/3" thick.
Filling
Sift together sugar and cinnamon
Brush melted butter onto dough and then sprinkle with cinnamon mixture.
Roll the dough into a log length wise and pinch the seam to seal.
Slice log every 2 inches and place on buttered baking dish. Cover and allow to rise until double in size.
Bake at 375° F until light brown. Allow to cool about 15 minutes, drizzle glaze over rolls if desired, and serve warm or at room temperature.
To make glaze add milk to powdered sugar 1 tablespoon at a time whisking until consistency is smooth and can be drizzled, add vanilla and drizzle over rolls.
Variations- If desired sprinkle raisins on dough over the cinnamon and sugar and before rolling log.
-Nut glaze- Coat bottom of baking sheet with melted butter, sprinkle an even layer of brown sugar, then a layer of chopped pecans or walnuts. Place rolls on top of nuts. When finished baking allow to cool 10 minutes and invert pan to release nuts. Delicious served warm!