Dissolve the yeast in the warm milk in a large bowl.

Mix in the sugar, butter, salt, and eggs. Add flour and mix well.

Knead the dough into a large ball, using your hands dusted lightly with flour. Put in a bowl, cover and let rise in a warm place about 1 hour, or until doubled in size.

After the dough has doubled in size, turn it out onto a lightly floured surface, cover and let rest for 10 minutes. In a small bowl, combine brown sugar and cinnamon.

Roll dough into a 16×21 inch rectangle. Spread dough with 1/3 cup butter and sprinkle evenly with sugar/cinnamon mixture. Roll up dough and cut into 12 rolls.

Place rolls in a lightly greased 9×13 inch baking pan. Cover and let rise until nearly doubled, about 30 minutes. Meanwhile, preheat oven to 400 degrees F (200 degrees C).

Bake rolls in preheated oven until golden brown, about 15 minutes.