Mix the warm water, sugar and yeast in a small bowl. Stir gently and let it rest for about ten minutes. The mixture should become bubbly and foamy before you continue.

Combine the flour and salt in a large bowl. Add the warm milk, melted butter, eggs and yeast mixture. Stir until a soft dough forms. It should feel smooth and slightly sticky.

Place the dough on a lightly floured surface. Knead it gently for about ten minutes. Fold and press until the dough becomes soft, smooth and elastic. This creates fluffy cinnamon rolls.

Place the dough into a greased bowl. Cover it with a clean towel. Let it rise in a warm place for about ninety minutes. The dough should double in size before shaping.

Transfer the dough onto a lightly floured surface. Roll it into a large rectangle about one-quarter inch thick. Try to keep the thickness even so every roll bakes perfectly.

Spread the softened butter across the dough. Sprinkle the brown sugar evenly over the butter. Finish with the ground cinnamon and vanilla. Cover every corner for rich flavor in every bite.

Roll the dough tightly from the long side into a log. Slice it into twelve equal pieces using a sharp knife or dental floss. Place each roll into the prepared baking dish.

Cover the baking dish with a kitchen towel. Let the rolls rise again for about thirty minutes. They should become soft, puffy, and nearly touch each other before baking.

Preheat the oven to 350°F (175°C). Bake the cinnamon rolls for about twenty-two to twenty-five minutes. The tops should become lightly golden while the centers stay soft and tender.

Whisk together the powdered sugar, melted butter, milk, vanilla and salt until smooth. Spread the icing over the warm cinnamon rolls. Let it melt into every swirl before serving fresh.