Creating Soft Cinnamon Rolls can be an enjoyable experience if you follow these simple steps:

1. Prepare the Dough: In a large bowl, combine 2 cups of flour, sugar, yeast, and salt.
2. Add Wet Ingredients: In a small saucepan, warm the milk until it’s warm but not boiling. Stir in the melted butter and allow it to cool slightly. Add this mixture along with the eggs into the dry ingredients.
3. Mix: Stir until combined, then gradually add in the rest of the flour until a dough forms.
4. Knead: Transfer the dough onto a floured surface and knead for 5-7 minutes, or until smooth and elastic.
5. First Rise: Place the dough in a greased bowl, cover it with a kitchen towel, and let it rise in a warm place for about 1 hour, or until it doubles in size.
6. Prepare the Filling: In a small bowl, combine brown sugar, granulated sugar, and cinnamon for the filling.
7. Shape the Rolls: Once the dough has risen, punch it down and roll it out into a rectangle (about 20×15 inches).
8. Add Filling: Brush the dough with melted butter, then sprinkle the cinnamon-sugar mixture evenly over the surface.
9. Roll Up: Starting from the longer edge, tightly roll the dough into a log.
10. Cut Rolls: Cut the log into 12 equal pieces (about 1.5 inches wide) and place them in a greased baking dish.
11. Second Rise: Cover the rolls and let them rise again for about 30 minutes until puffy.
12. Bake: Preheat your oven to 350°F (175°C) and bake for 25-30 minutes, or until golden brown.
13. Cool: Let the rolls cool in the pan for 10-15 minutes.
14. Make Frosting: In a bowl, combine powdered sugar, milk, and vanilla extract until smooth.
15. Drizzle Frosting: Once the rolls have cooled slightly, drizzle the frosting over the top.

Following these steps will lead you to delicious Soft Cinnamon Rolls that are soft, fluffy, and utterly delightful!