Step 1: Activate the yeast
In a small bowl, combine the warm milk with a pinch of sugar. Sprinkle the yeast over the milk and stir. Let it sit for 5–10 minutes until it becomes frothy.

Step 2: Make the dough
In a large mixing bowl, combine the flour, sugar, and salt. Create a well in the center and add the yeast mixture, melted butter, and eggs. Mix until the dough comes together. Knead for 8–10 minutes, either by hand or using a stand mixer with a dough hook attachment, until the dough is smooth and elastic.

Step 3: Let the dough rise
Place the dough in a lightly oiled bowl, cover with a damp cloth, and let it rise in a warm place for about 1 hour or until it has doubled in size.

Step 4: Roll out the dough
Once the dough has risen, punch it down and turn it onto a floured surface. Roll it out into a large rectangle, about 1/4 inch thick.

Step 5: Add the filling
Spread the softened butter evenly over the dough. In a small bowl, mix the brown sugar, cinnamon, and salt, then sprinkle this mixture over the buttered dough.

Step 6: Roll up the dough
Starting from the longer edge, roll the dough tightly into a log. Slice the log into 12 equal pieces.

Step 7: Bake the cinnamon buns
Place the rolls into a greased baking dish or on a parchment-lined baking sheet. Cover with a cloth and let them rise for another 30 minutes. Preheat your oven to 350°F (175°C) and bake the rolls for 20–25 minutes or until golden brown.

Step 8: Glaze and serve
In a small bowl, whisk together the powdered sugar, milk, and vanilla extract to create the glaze. Drizzle the glaze over the warm cinnamon buns and serve immediately.