In a bowl, combine flour, sugar, yeast, and salt.
Add warm milk, melted butter, eggs, and vanilla. Mix until a dough forms.
Knead for 8-10 minutes until smooth. Cover and let rise for 1 hour or until doubled in size.
Mix softened butter, brown sugar, and cinnamon to form a spreadable paste.
Roll out dough into a rectangle, spread the cinnamon filling evenly, and cut into strips.
Stack and slice into squares, then layer in a greased loaf pan.
Cover and let rise for another 30 minutes.
Preheat oven to 350°F (175°C) and bake for 30-35 minutes until golden brown.
Whisk together powdered sugar, milk, and vanilla. Drizzle over warm bread.