Creating The Best Cinnamon Rolls is straightforward if you follow these steps:

1. Activate Yeast: In a small bowl, combine the warm milk and sugar. Add the yeast and allow it to sit for 5 minutes until foamy.
2. Mix Ingredients: In a large mixing bowl, combine 2 cups of flour and salt. In a separate bowl, whisk together the melted butter, eggs, and vanilla extract.
3. Combine Mixtures: Add the yeast mixture to the flour mixture, mixing until combined. Gradually add the remaining flour, stirring until you form a soft dough.
4. Knead the Dough: Turn the dough onto a floured surface and knead for about 5-7 minutes until smooth and elastic.
5. First Rise: Place the dough in a greased bowl, cover with a clean cloth, and let it rise in a warm place for 1 hour or until doubled in size.
6. Prepare Filling: In a small bowl, mix the brown sugar and cinnamon for the filling.
7. Roll Out Dough: Once risen, roll the dough out to a rectangle, about 1/4 inch thick on a floured surface.
8. Add Filling: Spread the softened butter over the dough and evenly sprinkle the cinnamon-sugar mixture on top.
9. Roll and Cut: Starting from the long edge, roll the dough tightly into a log. Cut into 12 equal pieces.
10. Second Rise: Place the rolls in a greased baking dish, cover with a cloth, and let them rise for another 30 minutes.
11. Preheat Oven: Preheat your oven to 350°F (175°C) while the rolls rise again.
12. Bake: Bake the rolls in the preheated oven for about 25-30 minutes, or until golden brown.
13. Cool: Remove from the oven and allow to cool for about 10 minutes.
14. Make Glaze: In a small bowl, whisk together powdered sugar, milk, and vanilla extract until smooth.
15. Drizzle with Glaze: Drizzle the glaze over the warm cinnamon rolls before serving.