In a large mixing bowl, combine warm milk, granulated sugar, and Dr. Oetker Instant Yeast. Let it sit for 5 minutes until it becomes frothy. Add melted butter, eggs, and salt, mixing well to combine. Gradually add flour and knead the dough until it is smooth and elastic, about 7-10 minutes.
Place the dough in a greased bowl, cover with a clean cloth, and let it rise in a warm place for about 1 hour or until doubled in size. Once risen, punch down the dough and roll it out on a floured surface into a large rectangle.
Spread softened butter evenly over the surface of the dough. In a small bowl, mix brown sugar and ground cinnamon, then sprinkle the mixture over the buttered dough. Roll up the dough tightly from the long edge and cut into 12 equal slices.
Place the slices on a greased baking sheet or in a baking dish, cover, and let them rise for another 30 minutes. Preheat the oven to 180°C.
Bake the cinnamon rolls in the preheated oven for 30 minutes, or until golden brown. While the rolls are baking, prepare the glaze by mixing powdered sugar, milk, and vanilla extract in a bowl. Once the rolls are done, drizzle the glaze over the warm rolls and serve immediately. Enjoy!
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