In a large mixing bowl, combine warm milk, sugar, and yeast. Let sit for 5 minutes until frothy.
Add melted butter and eggs to the yeast mixture. Stir in flour and salt until combined.
Knead dough on a floured surface for about 8 minutes until smooth.
Place dough in a greased bowl, cover, and let rise in a warm spot for 1 hour or until doubled.
Roll out the risen dough into a rectangle (1/2 inch thick). Spread softened butter over the surface, then sprinkle with brown sugar mixed with cinnamon.
Roll tightly into a log and cut into 12 individual rolls. Place in a greased baking dish, cover, and let rise for another 30 minutes.
Preheat oven to 350°F (175°C) and bake rolls for approximately 25 minutes until golden brown.
