In a small bowl, combine the warm milk and sugar. Sprinkle the yeast on top and let it sit for 5–10 minutes until foamy. This step ensures the yeast is alive and ready to help your dough rise.

In a large bowl, whisk together the gluten-free flour and salt. Add the yeast mixture, eggs, and melted butter. Mix until a sticky dough forms. If it feels too dry, add a tablespoon of milk at a time until the dough comes together.

Cover the bowl with a clean kitchen towel and let the dough rise in a warm spot for about 1 hour. It should double in size.

Prepare the filling

While the dough rises, mix the brown sugar and cinnamon in a small bowl. Set aside.

Once the dough has risen, lightly flour a surface with gluten-free flour. Roll the dough into a rectangle about ¼ inch thick. Spread the softened butter evenly over the surface, then sprinkle the cinnamon-sugar mixture on top.

Carefully roll the dough into a log, starting from the long side. Use a sharp knife to cut the log into 12 even pieces.

Place the rolls into a greased 9x13-inch baking dish, leaving a little space between each one. Cover and let them rise for another 30 minutes.

Preheat your oven to 350°F. Bake the rolls for 20–25 minutes, or until golden brown and cooked through.

Mix the powdered sugar, milk, and vanilla extract in a small bowl to make the glaze. Drizzle it over the warm rolls and serve immediately. Enjoy!