Prepare the Dough: In a large bowl, dissolve yeast in warm milk. Let it sit for about 5 minutes until frothy. Add sugar, melted butter, eggs, and salt. Mix well. Gradually add flour, mixing until a soft dough forms. Knead the dough for about 5-7 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise in a warm place until doubled in size (about 1 to 1.5 hours).

Prepare the Filling: In a small bowl, mix softened butter, brown sugar, and cinnamon until well combined.

Roll and Fill: Punch down the risen dough and roll it out on a floured surface into a rectangle (about 18×12 inches). Spread the filling evenly over the dough. Roll up the dough tightly, starting from the longer side, and cut into 12 rolls.

Make the Crumble Topping: Combine flour, brown sugar, and melted butter in a bowl. Mix until crumbs form.

Prepare for Baking: Arrange the rolls in a greased 9×13 inch baking dish. Sprinkle crumble topping evenly over the rolls.

Bake: Preheat the oven to 375°F (190°C). Cover and let the rolls rise for another 30 minutes. Bake for 20-25 minutes until golden brown.

Prepare the Glaze: Mix powdered sugar, milk, and vanilla extract until smooth. Drizzle over warm rolls.