Warm the milk and sprinkle the active dry yeast. Let it sit for 10 minutes.

Combine flour, sugar, and salt. Cut in the butter until coarse crumbs form. Add yeast mixture and eggs, knead for 5 minutes.

Transfer dough to a greased bowl and cover. Let it rise for 1 hour until doubled.

Prepare salted caramel by melting sugar over medium heat, then adding butter, cream, salt, and vanilla.

Mix softened butter with brown sugar and cinnamon. Roll out dough, spread mixture evenly.

Roll up the dough tightly and slice into 12 pieces.

Place sliced rolls in a greased pan, cover, and let rise for 20 minutes.

Preheat oven to 375°F and bake for 22-28 minutes.

Whisk together icing ingredients until smooth.

Drizzle icing over warm rolls and serve.