In a small bowl, combine 1 cup of warm milk with 2 ¼ teaspoons of active dry yeast and 2 tablespoons of granulated sugar. Stir gently until dissolved and let it sit for 10 minutes, or until foamy.

In a large mixing bowl, whisk together 4 cups of all-purpose flour, ½ cup of granulated sugar, 1 teaspoon of salt, and 2 teaspoons of ground cinnamon. Pour in the yeast mixture, along with ¼ cup of melted unsalted butter and 2 eggs. Mix until a shaggy dough forms.

Transfer the dough onto a floured surface and knead for 8-10 minutes until smooth and elastic.

Place the kneaded dough in a greased bowl, cover, and let it rise for 1 hour, or until doubled in size.

Punch down the risen dough and roll it out to a large rectangle, approximately 16x24 inches.

Spread ¼ cup of softened unsalted butter over the dough, then sprinkle with a mix of ¾ cup of brown sugar and 2 tablespoons of ground cinnamon.

Roll the dough into a tight log and slice into 12 equal pieces. Place in a greased baking pan.

Cover the pan and let the rolls rise for about 30 minutes.

Preheat your oven to 350°F (175°C). Bake for approximately 25 minutes, or until golden brown.

Whisk together 1 cup of powdered sugar with enough milk until the icing reaches a drizzling consistency.

Once the rolls are out of the oven and slightly cooled, drizzle the prepared icing over each roll.