• Add yeast to flour, mix well and set aside
• In a large bowl mix warm, not hot, milk with melted butter and eggs
• Add granulated sugar and salt and mix
• Add flour and mix well until all incorporated
• If dough is too sticky add another ¼ cup of flour
• Knead dough on a floured surface for 5 minutes until dough springs back slightly
• Put dough in a lighly greased bowl and cover with plastic wrap and a kitchen towel
• Put in a warm place and let rise for 45 minutes
• On a lighly floured surface roll dough into a 18 x 18 square. Should be about ¼ inch thick.
• Mix both sugars and cinnamon together in a bowl
• Spread softened butter on dough
• Sprinkle with sugar and cinnamon mixture
• Gently roll dough into a log and cut into 12 slices. Each slice will be 1½ inches wide
• Place cut rolls in a 9x13 baking dish
• Cover and let rise for 45 minutes
• preheat oven to 350
• Spoon half and half over rolls and let absorb for 5 minutes.
• Gently pour out liquid that hasn't been absorbed
• Bake in oven for 25 minutes. If rolls are browning too much cover with aluminum foil

Icing

• Mix powdered Sugar, vanilla and milk together
• Let rolls cool slightly then drizzle over rolls