Bring milk to just under a boil. When bubbles form around edge turn off heat and remove.

Add butter and granulated sugar to hot milk. Stir until butter is melted and sugar dissolved.

When cooled to lukewarm, add yeast. Let proof for 10 minutes or until frothy.

After yeast has proofed, add eggs and flour and salt last.

If using bread machine use dough cycle. If using mixer with hook attachment, mix on low speed until combined. Then on medium speed for around 8 to 10 minutes.

Knead until dough is smooth and elastic. It should pull away from sides of bowl. It should be soft and not stick to your finger when touched.

If dough is sticky, add a couple tablespoons of flour until no longer sticky. Add couple drops of water if to dry.

Oil a large bowl and roll dough around to cover. Cover with plastic wrap and let rise until double in size.

Punch down dough. On floured surface, roll out dough into 9x13 rectangle.

Starting with long edge, roll tightly in jelly roll fashion.

When you get to opposite edge, pull dough up and pinch to seal together. Pinch and tuck in ends also.

With serated knife, pizza cutter or dental floss, cut rolls into 12 to 15 pieces.

If you want bigger rolls, cut wider slices and you can also roll out dough bigger to make more rolls before filling.

When slightly cooled but still warm, spread the rest of icing over warm rolls.

I hope you enjoy these as much as I do :)