Prepare the dry ingredients by combining all-purpose flour, granulated sugar, instant yeast, and fine sea salt in a large mixing bowl.

Mix the wet ingredients by whisking together warmed whole milk, melted unsalted butter, large eggs, and pure vanilla extract in another bowl.

Form the dough by mixing the wet and dry ingredients until a sticky dough forms, then knead on a floured surface until smooth.

Let the dough rise in a greased bowl covered with a towel for about 1 hour until doubled in size.

Roll out the dough into a rectangular shape approximately 16x24 inches, aiming for an even thickness of ¼ inch.

Spread softened butter evenly over the dough, then mix brown sugar and ground cinnamon to sprinkle over the surface.

Roll the dough tightly from one edge into a log shape, sealing the seam as you go, and then cut into 12 equal pieces.

Cover the baking dish with a towel and let the rolls rise for another 30 to 45 minutes until puffed up.

Bake the rolls at 350°F (175°C) for 25 to 30 minutes until golden brown.

Prepare the icing by whisking together powdered sugar, milk, and vanilla extract until smooth.

Ice and serve the rolls by drizzling the creamy icing over the top while they are still warm.