1. In a large mixing bowl, combine 2 cups of flour and yeast.
2. In a saucepan, heat milk, sugar, butter, and salt until warm (120-130°F).
3. Add milk mixture to flour mixture; add eggs. Beat with an electric mixer on low speed for 30 seconds, then on high speed for 3 minutes.
4. Stir in as much remaining flour as you can. Knead dough on a lightly floured surface until smooth and elastic (6-8 minutes).
5. Place dough in a greased bowl, cover, and let rise in a warm place until doubled (about 1 hour).
6. Punch dough down. Roll into a 12x8 inch rectangle.
7. Spread softened butter over dough. Combine brown sugar and cinnamon; sprinkle over butter.
8. Roll up dough and cut into 12 slices. Place in a greased baking dish. Cover and let rise until nearly doubled (about 30 minutes).
9. Bake in a 375°F oven for 25 minutes or until golden. Cool slightly.
10. For icing, combine powdered sugar, butter, vanilla, and milk. Drizzle over warm rolls.