In the bowl of your electric mixer, add the warm milk and sprinkle the yeast on top. Let it sit for 5 minutes, until foamy.
Put your dough hook onto your mixer and add to the bowl your sugar, flour, vanilla, eggs, and salt. Mix until combined.
Turn your mixer on low and add the diced butter one cube at a time, making sure each is incorporated before adding the next chunk of butter.
Once combined, turn your mixer up to medium speed and knead the dough for 5 minutes. Add your dough ball to a lightly greased bowl and cover it for one hour, or until doubled.
Turn your dough out onto a lightly floured surface. Roll the dough out into a rectangle that is ¼ inch thick.
Pour the melted butter onto the center of the dough and spread it out carefully.
Sprinkle the cinnamon-sugar mixture evenly onto the butter.
Roll the dough lengthwise, starting with the side closest to you.
Roll the dough into a tight log, rolling away from you. Pinch the seam and slice the roll into 1 inch slices.
Place the rolls into a greased 9x13 casserole dish.
Cover and let rise for 30 minutes as the oven heats up to 375 degrees F.
Bake the rolls for 25-30 minutes, or until golden brown.
While the rolls cool, whisk the frosting in a pourable measuring cup. Drizzle the icing on top of the cooled rolls. Enjoy.