Warm the milk in the microwave for 45 seconds. Milk should be warm but not hot.
In the bowl of a stand mixer fitted with the dough hook, mix milk, yeast and 1 TBS sugar. Let sit until frothy. About 5 minutes
Add 1/2 cup sugar, eggs, and vanilla and mix until combined
Add flour and cinnamon and mix until a ball forms. If too sticky add more flour.
Knead out dough on a floured surface until smooth
Form it into a ball and place in a greased bowl. Cover with a warm, wet cloth and let sit for an hour. It should double in size.
In a bowl combine cinnamon and brown sugar. Melt the butter in a separate bowl.
Once dough has risen roll it out on a floured surface. Roll out so it is about 24X12 inches.
Spread the butter all over the flattened dough and then sprinkle your sugar mixture on top.
Roll up the dough into a long tube and cut into 12 equal sized pieces.
Place pieces in a greased 9X13 pan and cover again with a warm, wet towel and let rise for 30 minutes.
Preheat oven to 350 degrees F.
Bake the rolls for 20 minutes.