In a large bowl, dissolve yeast in warm milk and let sit for 5 minutes.
Add sugar, butter, salt, eggs, and flour. Mix into a dough, then knead until smooth.
Cover and let rise for 1 hour or until doubled in size.
Roll dough into a rectangle, spread with softened butter, and sprinkle with brown sugar and cinnamon.
Roll into a log and slice into 12 rolls. Arrange on a greased baking dish.
Cover and let rise again for 30 minutes. Meanwhile, preheat oven to 350°F (175°C).
Bake 25–30 minutes, until golden brown.
Mix glaze ingredients, then drizzle over warm rolls before serving.