In a small bowl, combine warm milk, instant yeast, and granulated sugar. Let sit for 5 to 10 minutes until frothy.

In a large bowl, whisk together flour, remaining granulated sugar, and salt. Add melted butter, eggs, and vanilla, and pour in yeast mixture to form rough dough.

Knead dough on a floured surface for about 8 to 10 minutes until smooth. Place in a greased bowl, cover, and let rise until doubled, about 1 hour.

Mix softened butter, brown sugar, and cinnamon in a bowl until smooth to create the filling.

After rising, roll out dough into a rectangle, spread cinnamon filling, and roll tightly. Slice into 12 pieces.

Arrange rolls in a greased baking dish, cover, and let rise again for about 1 hour until puffed.

Preheat oven to 350°F. Bake rolls for 25 to 30 minutes until golden and cooked through.

Mix whole milk, sweetened condensed milk, and evaporated milk in a bowl to prepare the soak.

Let baked rolls cool for 5 minutes, then pour tres leches soak evenly over them. Let absorb for at least 30 minutes.

Whisk powdered sugar with enough milk to achieve drizzle consistency. Drizzle over soaked rolls for serving.