Combine 1 cup of warm milk with 2 teaspoons of active dry yeast in a mixing bowl and let sit for about 10 minutes until frothy.

In another bowl, whisk together 4 cups of all-purpose flour, 1/2 cup of granulated sugar, 2 teaspoons of ground cinnamon, and 1 teaspoon of salt.

Pour the yeast mixture into the flour mixture, add 1/2 cup melted unsalted butter and 2 room-temperature eggs. Mix until dough forms.

Knead the dough on a floured surface for about 10 minutes until smooth and elastic.

Place the kneaded dough in a greased bowl, cover with a damp cloth, and let it rise for about 1 hour until it doubles in size.

After rising, gently punch down the dough, roll into a rectangle, spread softened butter, sprinkle with cinnamon-sugar, and roll into a log.

Cut the roll into 12 equal pieces, arrange in a greased baking pan, and let rise for another 30 minutes.

Preheat your oven to 350°F (175°C) and bake for 25 minutes until golden brown.

While baking, whisk together 2 cups of powdered sugar and 2-4 tablespoons of milk to make the icing.

Once rolls are done, drizzle the sweet glaze generously over them while warm.