In a large mixing bowl, combine flour, sugar, yeast, and salt.

Heat milk and butter in a saucepan until melted, then cool slightly.

Stir the milk mixture into the dry ingredients until smooth, then incorporate eggs.

Gradually add remaining flour until a soft dough forms.

Turn the dough onto a floured surface and knead for about 5 minutes until smooth and elastic.

Place dough in a greased bowl, cover, and let it rise in a warm place for about 1 hour.

Roll the risen dough into a rectangle and spread softened butter, then sprinkle with brown sugar and cinnamon.

Tightly roll the dough and cut into 12 equal pieces.

Arrange rolls in a greased baking dish and let rise for another 30 minutes.

Preheat the oven to 375°F (190°C) and bake for 20-30 minutes until golden brown.

Whisk together icing ingredients while rolls are baking.

Let the rolls cool for 10 minutes before drizzling with icing.