Activate yeast: Combine warm milk, sugar, and yeast until foamy
Mix dough: Add eggs, butter, salt, and flour until soft dough forms
Knead: Until smooth and elastic
First rise: Cover and let rise until doubled
Roll dough: Into a large rectangle
Add filling: Spread butter, sprinkle brown sugar and cinnamon
Roll tightly: Starting from the long edge
Slice: Cut into even rolls
Second rise: Arrange in baking dish and let rise again
Bake: Until lightly golden
Prepare frosting: Beat all frosting ingredients until smooth
Frost: Spread over warm rolls