In a small saucepan, heat the milk over low until it's warm but not boiling. Add sugar and butter, stirring until melted. Remove from heat and let it cool slightly.

In a bowl, combine the yeast with the warm milk mixture. Let it sit for about 5 to 10 minutes until it becomes frothy.

In a large mixing bowl, combine the flour and salt. Add the yeast mixture, along with the eggs and vanilla extract. Mix until the dough comes together.

On a floured surface, knead the dough for about 8-10 minutes until it's smooth and elastic.

Place your dough in a greased bowl, cover it with a damp towel, and let it rise in a warm place for about an hour or until it's doubled in size.

In a small bowl, mix together the brown sugar, cinnamon, and a pinch of salt.

Once your dough has risen, punch it down and roll it out into a rectangle about 1/2 inch thick. Spread the softened butter over the dough and sprinkle the cinnamon sugar mixture evenly on top.

Starting from one end, tightly roll the dough into a log. Pinch the seams to seal.

Place the roll in a greased loaf pan, cover it again, and let it rise for another 30-45 minutes, until it has puffed up.

Preheat your oven to 350°F (175°C). Bake for approximately 30-35 minutes, or until the bread is golden brown and sounds hollow when tapped on the bottom.

Allow it to cool in the pan for about 10 minutes before transferring it to a wire rack. Once cool enough to handle, slice and enjoy your delicious creation!