Creating Breakfast Rolls is simple if you follow these steps:

1. Activate Yeast: In a small bowl, combine warm milk and sugar. Stir in the yeast and let it sit for about 5–10 minutes until it becomes frothy.
2. Mix Wet Ingredients: In a large bowl, mix melted butter, eggs, and vanilla extract. Add the yeast mixture once frothy.
3. Combine Dry Ingredients: In another bowl, whisk together flour and salt. Gradually add the dry ingredients to the wet mixture, stirring until a soft dough forms.
4. Knead Dough: Transfer the dough to a floured surface and knead for about 5–7 minutes until smooth and elastic.
5. First Rise: Place the dough in a greased bowl, cover it with a damp cloth, and let it rise in a warm place for about 1 hour or until doubled in size.
6. Prepare Filling: While the dough is rising, combine brown sugar, cinnamon, and chopped nuts (if using) in a bowl.
7. Roll and Fill: After the dough has risen, punch it down and roll it out into a rectangle. Spread the filling evenly over the dough. Roll it up tightly from one end to the other, and slice it into 12 equal pieces.
8. Second Rise: Arrange the rolls in a greased baking pan, cover, and let them rise for about another 30 minutes until puffed up.
9. Bake: Preheat your oven to 350°F (175°C). Bake the rolls for 20-25 minutes or until golden brown.
10. Make Glaze: While baking, mix powdered sugar, milk, and vanilla extract in a bowl to make the glaze.
11. Glaze Rolls: Once the rolls are baked, let them cool for a few minutes, then drizzle the glaze over the warm rolls.

These steps will lead you to a batch of delightful Breakfast Rolls that will become a staple in your home.