In a large mixing bowl, combine the warmed milk and yeast. Let it sit for about 5 minutes until it becomes frothy.

Add the softened butter, sugar, eggs, and salt to the yeast mixture. Stir until well combined.

Gradually add the flour, mixing until a dough forms.

Transfer the dough to a floured surface and knead for about 5-7 minutes.

Place the dough in a greased bowl, cover it, and let it rise in a warm place for about 1 hour, or until doubled in size.

Punch down the dough, roll it out on a floured surface into a rectangle, about 1/4 inch thick.

If using, sprinkle the brown sugar and cinnamon evenly over the dough.

Starting from one long side, roll the dough tightly into a log. Slice into 12 equal pieces and place them in a greased baking dish.

Cover the rolls and let them rise for another 30 minutes.

Preheat the oven to 350°F (175°C). Bake the rolls for about 25 minutes or until golden brown.

For the glaze, mix icing sugar with 2 tablespoons of milk until smooth and drizzle over warm rolls.