In a large bowl, combine warm milk, sugar, and yeast. Let it sit for 5-10 minutes until frothy.
Add softened butter and eggs to the yeast mixture and whisk until smooth.
In another bowl, mix flour and salt, then gradually add to the wet ingredients.
Knead the dough on a floured surface for about 10 minutes until smooth.
Place the dough in a greased bowl, cover, and let it rise for 1 hour or until doubled in size.
Preheat your oven to 350°F (175°C).
Once risen, roll the dough out into a rectangle, about 1/4 inch thick.
Spread softened butter over the dough, then sprinkle with brown sugar and cinnamon.
Roll the dough tightly from the long side and cut into 12 equal pieces.
Arrange the pieces in a greased baking dish, cover, and let rise for another 30 minutes.
Bake for 30-35 minutes or until golden brown. Allow to cool before serving.