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In a stand mixer, combine the warm milk, instant dry yeast, ½ cup sugar, 2 large eggs, and ⅓ cup softened butter.
Add 4 cups of flour and mix until just barely combined.
Let the dough sit for a couple of minutes, then switch to the dough hook and knead for 5 more minutes.
Place the dough in a greased bowl, cover, and let rise until doubled in size, about 1-2 hours.
Roll out the dough and make the filling by combining ½ cup butter, 1 cup brown sugar, and 2 tablespoons cinnamon.
Roll up the dough and cut into 1-2 inch slices.
Place the slices in a greased baking dish and let rise for 30 more minutes, covered.
Bake at 375°F for 20 minutes.
Frost the cinnamon rolls and serve warm.