Activate the yeast by combining it with warm milk and sugar; let sit until frothy.

In a bowl, whisk flour and salt together. Combine with the yeast mixture, melted butter, eggs, and vanilla to form a dough.

Knead the dough on a floured surface for 8-10 minutes until smooth and elastic.

Place the dough in a greased bowl, cover, and let it rise in a warm area for 1-2 hours until doubled in size.

After rising, roll out the dough into a rectangle, brush with butter, sprinkle with sugar and cinnamon, and roll into a log.

Cut the log into 12 equal pieces and place them in a greased baking dish to rise for 30-45 minutes.

Preheat the oven to 350°F and bake the rolls for 20-25 minutes until golden brown.

Allow the rolls to cool in the dish before transferring to a wire rack; dust with powdered sugar before serving if desired.