Heat the milk. Sprinkle the yeast over the milk and let sit for a minute, until its all moist.

In the bowl of a stand mixer, fitted with the dough hook, add the milk, yeast, eggs, butter, flour, salt and sugar.

Mix until a ball of dough forms. Continue to knead for another 5 minutes.

Place the dough in a lightly greased bowl and let rise until doubled in size.

After the dough has doubled in size turn it out onto a lightly floured surface, cover and let rest for 10 minutes.

In a small bowl, combine brown sugar, white sugar and cinnamon. Melt the butter.

Roll dough into a 16x21-inch rectangle. Brush the dough with the butter (I just poured it on the dough and spread it around with a pastry brush) and sprinkle evenly with sugar/cinnamon mixture. Roll up dough and cut into 12 pieces.

Place rolls in a lightly greased 9x13 inch baking pan. Cover and let rise until nearly doubled, about 30 minutes.

Meanwhile, preheat oven to 400 degrees F.

Bake rolls until golden brown, about 15 minutes.

While rolls are baking, make the glaze. Combine all ingredients in a bowl and whisk until smooth. Glaze should be thick, but pour-able. Adjust to taste as needed.

Generously drizzle glaze on warm rolls. Make sure you completely cover the tops and sides. The buns will absorb some of the glaze as they sit and cool.