In a large mixing bowl, combine all-purpose flour, granulated sugar, instant yeast, and salt.

Pour in warm milk and melted unsalted butter, followed by the large eggs and vanilla extract.

Stir until the mixture comes together, creating a sticky dough. This step will take about 5 minutes.

Transfer the dough onto a floured surface and knead for 5-7 minutes until it becomes smooth and elastic.

Place the kneaded dough in a greased bowl, cover it with a damp cloth, and let it rise for approximately 1 hour.

Prepare the filling by mixing softened unsalted butter, brown sugar, and ground cinnamon in a small bowl.

Beat these ingredients together until you achieve a smooth, spreadable consistency.

Once the dough has risen, gently punch it down and roll it out into a rectangle, about ¼ inch thick.

Using a spatula, evenly spread the prepared filling over the rolled-out dough.

Starting from one long edge, tightly roll the dough into a log, pinching the seams to seal the filling inside.

Using a sharp knife, slice the log into 12 equal pieces and arrange them in a greased baking dish.

Cover the cut rolls with a cloth and allow them to rise for another 30 minutes.

Preheat your oven to 350°F (175°C) and bake for 25-30 minutes, until golden brown.

Whisk together whole milk, sweetened condensed milk, and evaporated milk until fully combined.

Pour the milk mixture evenly over the hot rolls and allow them to soak for 15-20 minutes.

For the frosting, whisk together powdered sugar, a splash of milk, and vanilla extract until creamy.