In a bowl, combine warm milk and yeast; let sit for 5 minutes until frothy.
In a large mixing bowl, whisk together flour, sugar, and salt.
Add melted butter, eggs, and yeast mixture to the flour; mix until a dough forms.
Knead the dough on a floured surface for about 5-10 minutes until smooth.
Place dough in a greased bowl, cover, and let rise for 1 hour until doubled in size.
Roll the dough out into a rectangle about 1/2 inch thick.
Spread melted butter over the dough; sprinkle with brown sugar and cinnamon.
Roll the dough tightly from one end to the other and cut into 12 pieces.
Place the rolls in a greased baking dish; cover and let rise for another 30 minutes.
Bake in a preheated oven at 350°F (175°C) for 25-30 minutes until golden brown.