In a bowl, mix warm milk and yeast; let sit for 5 minutes.
Add melted butter, sugar, and eggs to the yeast mixture.
In another bowl, combine flour and salt.
Gradually add flour mixture to wet ingredients until a dough forms.
Knead the dough on a floured surface for about 5 minutes.
Place the dough in a greased bowl; cover and let rise for 1 hour.
Preheat the oven to 350°F (175°C).
Punch down the dough and roll it out into a rectangle.
Spread melted butter, then sprinkle brown sugar and cinnamon evenly.
Roll tightly and slice into 12 pieces; place in a greased baking dish.
Let rolls rise for another 30 minutes, then bake for 25-30 minutes.
Mix powdered sugar and milk for glaze and drizzle over warm rolls.