Warm your milk to about 110 degrees. Stir in the yeast and a tablespoon of sugar. Let it sit for 5-10 minutes until it's nice and foamy. This step always makes me smile because you know the dough is going to rise beautifully.

In your big bowl, combine the foamy yeast mixture with the melted butter, eggs, remaining sugar, and salt. Gradually add the flour until a soft dough forms. I like to use my stand mixer, but hands work just fine too. The dough should be smooth but not sticky

Turn the dough out onto a lightly floured surface and knead for about 5 minutes until it's elastic. Place it in a greased bowl, cover with a towel, and let it rise in a warm spot for about an hour until doubled. Nothing beats that fresh dough smell filling the kitchen.

While the dough rises, mix softened butter, brown sugar, cinnamon, and a splash of brewed coffee for extra depth. It creates this thick, spreadable paste that smells like heaven. I always sneak a little taste right here.

Punch down the risen dough and roll it into a large rectangle about 12x16 inches. Spread the cinnamon filling evenly across it, leaving a small border. The coffee in the filling gives it a beautiful aroma already.

Carefully roll the dough into a tight log starting from the long side. Use dental floss or a sharp knife to slice into 12 equal pieces. Place them cut-side up in a greased 9x13 pan. They look so pretty nestled together.

Cover the pan and let the rolls rise again for 30-45 minutes. Preheat oven to 350°F and bake until golden brown, about 22-27 minutes. The edges get perfectly crisp while the centers stay soft and gooey.

Whisk together powdered sugar, brewed coffee, melted butter, and vanilla until smooth. Drizzle generously over the warm rolls. The coffee glaze soaks in just a bit and makes them shine. Serve while they're still warm!