For the Dough: In a large bowl, whisk together flour, granulated sugar, yeast, and salt. In a separate bowl, whisk together warm milk, softened butter, and eggs. Pour wet ingredients into dry ingredients and mix until a shaggy dough forms. Knead on a floured surface for 8-10 minutes until smooth and elastic. Place dough in a greased bowl, cover, and let rise in a warm place for 1-1.5 hours, or until doubled in size.
For the Filling: In a medium bowl, mix together brown sugar and cinnamon. Ensure butter for filling is softened.
Assemble the Rolls: Punch down the risen dough. On a lightly floured surface, roll the dough into a large rectangle (about 12×18 inches). Spread the softened butter evenly over the dough, leaving a small border. Sprinkle the brown sugar-cinnamon mixture evenly over the butter. Starting from one of the long sides, tightly roll up the dough. Cut the roll into 12 equal slices.
Bake the Rolls: Arrange the cinnamon roll slices in a greased 9×13 inch baking pan. Cover loosely and let rise for another 30 minutes. Preheat oven to 375°F (190°C). Bake for 25-30 minutes, or until golden brown and cooked through.
For the Glaze: While the rolls are baking, whisk together powdered sugar and 2 tablespoons of milk or cream until smooth. Add more milk/cream a teaspoon at a time if needed to reach a pourable consistency.
Glaze and Serve: Remove rolls from oven and let cool slightly. Drizzle the glaze generously over the warm cinnamon rolls.