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In a large mixing bowl, combine warm milk, sugar, and yeast. Let it sit for about 5-10 minutes until frothy. Add melted butter, eggs, vanilla extract, and salt. Gradually mix in the flour until a soft dough forms.
Turn the dough onto a floured surface and knead for about 8-10 minutes, until smooth and elastic. Place the dough in a greased bowl, cover it with a kitchen towel, and let it rise in a warm place for 1-2 hours or until doubled in size.
Once risen, punch down the dough and roll it out into a rectangle (about ¼ inch thick). Brush with melted butter. In a small bowl, mix the sugar and cinnamon, then sprinkle it evenly over the dough. Roll the dough tightly into a log and cut it into 12 equal pieces.
Place the rolls in a greased baking dish, cover them, and let rise again for 30-45 minutes.
Preheat your oven to 350°F (175°C). Bake the rolls for 20-25 minutes or until golden brown. Brush with melted butter as soon as they come out of the oven.
Allow to cool slightly before serving. Enjoy warm or at room temperature!
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