In a large mixing bowl, combine the flour, caster sugar, salt, and instant yeast.
In a separate bowl, whisk together the whole milk, melted butter, and eggs.
Gradually add the wet ingredients to the dry ingredients, mixing until a dough forms.
Knead the dough on a floured surface for 10-15 minutes until smooth and elastic.
Place the dough in a greased bowl and cover with cling film. Leave to prove in a warm place for 1-2 hours or until doubled in size.
Preheat the oven to 180°C fan/200°C/gas mark 6.
Grease a 23cm square baking tin.
Roll out the dough on a floured surface to a rectangle measuring approximately 40cm x 30cm.
For the filling, mix together the softened butter, light brown sugar, and ground cinnamon until smooth.
Spread the filling evenly over the surface of the dough.
Starting from the long edge, roll the dough up tightly to form a long sausage shape.
Cut the dough into slices approximately 2.5cm thick and arrange in the greased baking tin.
Cover the tin with cling film and leave to prove in a warm place for a further 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 golden brown.
To make the glaze, mix together the icing sugar and whole milk until smooth.
Once the cinnamon rolls are cooked, remove from the oven and leave to cool in the tin for 5 minutes.
Drizzle the glaze over the rolls and serve warm.