In a large mixing bowl, whisk together 4 cups of all-purpose flour, ¼ cup granulated sugar, 1 teaspoon salt, and 2 tablespoons ground cinnamon until evenly mixed.

In a saucepan, warm ½ cup of milk and ½ cup of softened butter over low heat until the butter is melted.

Add the cooled milk mixture and 2 large eggs to your dry ingredient bowl. Mix well until a shaggy dough forms.

Transfer the dough to a lightly floured surface and knead for about 5 to 7 minutes until it becomes smooth and elastic.

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

Punch down the dough to release the gases and transfer it to a floured surface. Roll out the dough into a rectangle approximately ¼ inch thick.

Spread a layer of softened butter over the surface of the rolled-out dough, then sprinkle ½ cup brown sugar and the remaining cinnamon evenly.

Starting from one end, roll the dough tightly into a log shape and cut it into 10 equal pieces.

Place the sliced rolls into a greased baking dish, cover with a towel and let them rise for another 30 minutes.

Preheat the oven to 350°F (175°C) and bake the rolls for 25 to 30 minutes until they are golden brown.

While the rolls are baking, mix together 2 cups of powdered sugar, 2 tablespoons of milk, and 1 tablespoon of vanilla extract until smooth.

Drizzle the sweet glaze over the top of the warm rolls and serve immediately.