In a large bowl, combine warm milk, sugar, and yeast. Let sit until foamy (5–10 minutes).
Add melted butter and eggs. Mix well. Stir in flour and salt until a soft dough forms.
Knead on a floured surface for 8 minutes or in a mixer with a dough hook for 5 minutes.
Place dough in a greased bowl, cover, and let rise until doubled (about 1 to 1½ hours).
Roll dough into a 14×18-inch rectangle. Spread softened butter over dough.
Mix brown sugar and cinnamon, then sprinkle over buttered dough.
Roll up tightly and slice into 12 even rolls. Place in a parchment-lined 9×13-inch pan.
Cover and let rise 30–45 minutes until puffy.
Bake at 350°F (175°C) for 22–28 minutes, until golden brown.
Mix glaze ingredients. Spread over warm rolls and serve.