Activate the yeast by mixing warm milk, yeast, and a teaspoon of sugar. Let it sit for 5–10 minutes until foamy.
Prepare the dough by combining flour, sugar, eggs, butter, and the yeast mixture. Knead until a soft dough forms.
Let the dough rise in a warm place for about 1 hour or until doubled in size.
Roll out the dough into a rectangle on a floured surface.
Spread softened butter over the dough and sprinkle with cinnamon and sugar.
Roll the dough tightly into a log and slice into equal rolls.
Place rolls in a greased baking dish and allow them to rise again for 20–30 minutes.
Bake at 350°F (175°C) for 20–25 minutes until golden brown.
Drizzle with glaze or frosting and serve warm.