In a bowl, combine warm milk and yeast; let it sit for 5 minutes.
In a large mixing bowl, combine flour, sugar, and salt.
Add melted butter, eggs, and yeast mixture to the flour.
Mix until a dough forms, then knead for 10 minutes.
Place the dough in a greased bowl, cover, and let it rise for 1 hour.
Roll out the dough on a floured surface to a rectangle.
Spread softened butter over the dough, then sprinkle cinnamon and brown sugar.
Roll the dough tightly and cut into 12 equal pieces.
Place rolls in a greased baking dish and let them rise for another 30 minutes.
Bake in a preheated oven at 350°F (175°C) for 25 minutes or until golden brown.