Combine the flour, caster sugar, salt, and instant yeast in a large mixing bowl.
In a separate bowl, whisk together whole milk, melted butter, and eggs.
Gradually add the wet ingredients to the dry ingredients, and mix until a dough forms.
Knead the dough on a floured surface for 10-15 minutes until it becomes smooth and elastic.
Grease a bowl, put the dough in it, and cover it with cling film. Leave it in a warm place for 1-2 hours, or until it doubles in size.
Preheat the oven to 180°C fan/200°C/gas mark 6.
Grease a 23cm square baking tin.
On a floured surface, roll out the dough to form a rectangle of about 40cm x 30cm.
For the filling, mix softened butter, light brown sugar, and ground cinnamon until smooth.
Spread the filling evenly over the dough’s surface.
Roll the dough tightly from the long edge to form a long sausage shape.
Cut the dough into slices of approximately 2.5cm thick, and place them in the greased baking tin.
Cover the tin with cling film and leave it in a warm place for another 30-45 minutes, or until the rolls have risen and are touching each other.
Bake in the preheated oven for 20-25 minutes, or until the rolls turn golden brown.
For the glaze, mix icing sugar and whole milk until it becomes smooth.
After the cinnamon rolls are cooked, let them cool in the tin for 5 minutes.
Drizzle the glaze over the rolls and serve them while they’re still warm.
