Combine warm milk, sugar, and yeast in a bowl. Let sit for 5 minutes until foamy.
Add melted butter, eggs, and vanilla extract to the yeast mixture.
Gradually add flour and mix until a dough forms.
Knead the dough on a floured surface for about 5-7 minutes until smooth.
Place the dough in a greased bowl, cover, and let it rise for 1 hour or until doubled.
Roll out the dough into a rectangle on a floured surface.
Spread softened butter over the dough, then sprinkle with brown sugar and cinnamon.
Roll the dough tightly and cut into 12 equal pieces.
Place rolls in a greased baking dish, cover, and refrigerate overnight.
In the morning, preheat the oven to 350°F (175°C) and bake for 25-30 minutes until golden.