Prepare the Dough

1. Activate the Yeast: In a small bowl, mix warm milk and yeast. Let sit for 5-10 minutes until frothy.
2. Mix Dry Ingredients: In a large mixing bowl, combine flour, sugar, and salt.
3. Add Wet Ingredients: Add eggs, softened butter, and yeast mixture to the dry ingredients. Mix until a soft dough forms.
4. Knead the Dough: Turn the dough onto a floured surface and knead for about 8-10 minutes until smooth and elastic.
5. Let the Dough Rise: Place the dough in a greased bowl, cover with a towel, and let it rise for about 1-1 ½ hours or until doubled in size.

Prepare the Filling

1. Mix the Filling: Combine softened butter, brown sugar, and cinnamon in a small bowl.

Assemble the Rolls

1. Roll Out the Dough: On a floured surface, roll the dough into a 12×18-inch rectangle.
2. Spread the Filling: Evenly spread the cinnamon mixture over the dough.
3. Shape the Rolls: Roll the dough tightly from the long side to create a log. Slice into 12 equal pieces. For a Valentine’s twist, pinch the bottom of each roll to form a heart shape.
4. Let Rise Again: Arrange the rolls in a greased 9×13-inch pan, cover, and let them rise for 30-45 minutes.

Bake the Rolls

1. Preheat the Oven: Preheat your oven to 350°F (175°C).
2. Bake: Bake the rolls for 20-25 minutes or until golden brown.

Add the Icing

1. Mix the Icing: Combine powdered sugar, milk, vanilla, and food coloring (if using) in a bowl. Stir until smooth.
2. Drizzle and Serve: Once the rolls are slightly cool, drizzle the icing generously over the top.