In a small bowl or the bowl of a stand mixer, combine the warm milk (ensure it's not too hot, around 40-45°C or 105-115°F, as too hot will kill the yeast) with the active dry yeast and 1 tablespoon (15g or 1/8 cup) of the granulated sugar. Stir gently and let it sit for 5-10 minutes until it becomes foamy. This process, called 'proofing' the yeast, indicates that the yeast is alive and active.

To the foamy yeast mixture, add the remaining granulated sugar (35g or 3/16 cup), lightly beaten eggs, melted butter (85g or 6 tbsp), and salt (5g or 1 tsp). Whisk or mix on low speed until just combined.

Gradually add the all-purpose flour (480g or 4 cups) to the wet ingredients. If using a stand mixer, use the dough hook attachment and mix on low speed until a shaggy dough forms. If mixing by hand, use a wooden spoon or spatula. Continue mixing until the dough starts to pull away from the sides of the bowl. This should take about 5-7 minutes in a mixer, or about 10 minutes by hand.

Turn the dough out onto a lightly floured surface. Knead the dough for about 8-10 minutes, or until it becomes smooth, elastic, and no longer sticky. If the dough is too sticky, add a tablespoon of flour at a time. If it feels too dry, add a teaspoon of milk. The dough should spring back slowly when poked.

Lightly grease a large bowl with a little oil or cooking spray. Place the kneaded dough into the bowl, turning it once to coat the surface. Cover the bowl tightly with plastic wrap or a damp kitchen towel. Let the dough rise in a warm place for 1 to 1.5 hours, or until it has doubled in size. A slightly warm oven (turned off) or a sunny spot can be good rising locations.

While the dough is rising, prepare the filling. In a medium bowl, combine the softened butter (115g or 8 tbsp), packed light brown sugar (200g or 1 cup), and ground cinnamon (20g or 2 tbsp). Mix with a spoon or spatula until well combined and it forms a paste.

Once the dough has doubled, gently punch it down to release the air. Turn the dough out onto a lightly floured surface and roll it into a large rectangle, approximately 30cm x 45cm (12 inches x 18 inches) and about 0.6cm (1/4 inch) thick. Aim for an even thickness.

Spread the prepared cinnamon-sugar filling evenly over the rolled-out dough, leaving a small border (about 1cm or 1/2 inch) along one of the long edges. This border will help seal the roll.

Starting from the long edge *opposite* the border you left, tightly roll up the dough jelly-roll style. Pinch the seam to seal it securely. Ensure the roll is tight to prevent the filling from leaking out during baking.

Cut the log into 12 equal pieces. You can do this by using a sharp knife or unflavored dental floss. To use floss, slide it under the log, cross the ends over the top, and pull to cut. Each piece should be about 2.5cm (1 inch) thick.

Grease a 23cm x 33cm (9x13 inch) baking dish. Arrange the cut cinnamon rolls in the prepared baking dish, cut-side up, leaving a little space between them as they will expand. Cover the dish loosely with plastic wrap or a kitchen towel.

Let the cinnamon rolls rise again in a warm place for another 30-45 minutes, or until they are puffy and have nearly doubled in size. Preheat your oven to 190°C (375°F) during the last 10 minutes of the second rise.

Bake the cinnamon rolls in the preheated oven for 20-25 minutes, or until they are golden brown on top and cooked through. The centers should feel slightly firm to the touch. If they start browning too quickly, you can loosely tent them with aluminum foil.

While the cinnamon rolls are baking, prepare the vanilla icing. In a medium bowl, whisk together the powdered sugar (240g or 2 cups), milk or cream (60ml or 4 tbsp), and vanilla extract (5ml or 1 tsp) until smooth and creamy. Add more milk or powdered sugar as needed to reach your desired consistency.

Once the cinnamon rolls are out of the oven, let them cool in the pan for about 10-15 minutes. Then, generously drizzle or spread the prepared vanilla icing over the warm rolls. Serve immediately for the best soft and gooey texture.