Warm the milk until lukewarm and mix it with sugar and yeast, allowing it to froth for about 5-10 minutes.

In a large mixing bowl, combine the sifted flour, remaining sugar, and salt. Add in the melted butter and beaten eggs, then pour in the frothy yeast mixture. Stir until well combined.

Transfer the dough to a floured surface and knead it for approximately 5 minutes until it's smooth and elastic.

Place the dough in a well-oiled bowl, cover it with a clean towel, and let it rise for about 1 hour or until it has doubled in size.

Once risen, roll out the dough into a rectangle, spread melted butter generously, sprinkle evenly with cinnamon and brown sugar, then roll it up tightly from one end to the other.

Slice the rolled dough into equal pieces and arrange them in a greased baking dish. Cover again and let rise for another 30 minutes.

Preheat your oven to 350°F (175°C). Bake the rolls for 25-30 minutes until they are golden brown.

Let cool slightly and optionally drizzle with icing while still warm.