Pour the warm water into a small bowl. Add the sugar and yeast. Stir gently. Let the mixture sit for about 10 minutes. It should become bubbly and foamy. This means the yeast is active and ready.

Mix the flour and salt in a large bowl. Add the milk, melted butter, eggs and yeast mixture. Stir everything together until a soft dough forms. The dough should feel smooth and slightly sticky.

Place the dough onto a lightly floured surface. Knead it for about 8 to 10 minutes. Fold and press gently until it becomes smooth and elastic. This step helps create soft and fluffy cinnamon rolls.

Place the dough into a lightly greased bowl. Cover it with a clean kitchen towel. Leave it in a warm place for about 90 minutes. The dough should double in size before the next step.

Transfer the risen dough onto a floured surface. Roll it into a large rectangle about ¼ inch thick. Try to keep the thickness even. This helps every cinnamon roll bake evenly.

Spread the softened butter across the dough using a spatula. Sprinkle the brown sugar evenly over the butter. Finish by covering everything with the ground cinnamon and a little vanilla for extra flavor.

Starting from the long side, roll the dough tightly into a log. Use a sharp knife or unflavored dental floss to cut the log into 12 equal pieces. Place each roll into the prepared baking dish.

Cover the baking dish with the kitchen towel again. Let the rolls rise for another 30 to 40 minutes. They should become soft, puffy and almost touch each other before baking.

Preheat your oven to 350°F (175°C). Bake the rolls for 22 to 25 minutes. They should turn lightly golden on top while staying soft and tender inside. Avoid overbaking for the best texture.

Whisk together the powdered sugar, melted butter, milk, vanilla and salt until smooth. Spread the icing over the warm cinnamon rolls. Let it melt into every swirl before serving. Every bite becomes rich, soft and delicious.