In a small bowl, warm milk too lukewarm temperature, sprinkle yeast over top and let sit for one minute.
Pour milk and yeast in bowl of an electric mixer, add sugar, butter, eggs, flour, and salt and mix well.
Knead the dough into a ball (should not be sticky so you may need to add a bit of flour to dust hands and ball of dough with) and place back into bowl.
Let dough rise, covered, in a warm place for one hour. It should double in size.
Take dough out of bowl and place on a lightly floured surface, roll dough into a 16 x 20 inch rectangle so that dough is about ¼ inch thick.
Make filling by combining cinnamon and brown sugar together in a small bowl.
Heat oven to 375 degrees.
Pour melted butter over top of dough, sprinkle the cinnamon mixture over top.
Working from one long edge, carefully roll the dough.
Cut the dough into 1 inch thick slices and place in a lightly greased pan.
Cover the pan of cinnamon rolls and let rise again for about 20 minutes in a warm place (I usually set them on top of the warming oven!)
Then bake 10-15 minutes or until golden brown.
While rolls are backing make the icing by combining all icing ingredients together and whisking together.
When rolls are done, pour icing over top liberally.
Enjoy!
Recipe by Smashed Peas & Carrots at https://smashedpeasandcarrots.com/ooey-gooey-cinnamon-roll-recipe-cute-back-school-printable/