In a mixing bowl, combine 1 cup of warm milk, 2 ¼ teaspoons of active dry yeast, and ¼ cup of granulated sugar. Stir gently and let it sit for 5–10 minutes until foamy.

Add 2 large eggs and ¼ cup of melted unsalted butter to the yeast mixture. Gradually mix in 4 cups of all-purpose flour and ½ teaspoon of salt until a sticky dough forms.

Knead the dough on a floured surface for 8–10 minutes until smooth and elastic. Let it rise in a greased bowl covered with a towel for about 1 hour.

Mix ½ cup of brown sugar, 2 tablespoons of ground cinnamon, and 1 tablespoon of espresso powder in a bowl to prepare the filling.

Punch down the risen dough, roll it into a large rectangle, spread ⅓ cup of softened butter, and sprinkle the filling mixture. Roll tightly into a log and slice into 12 pieces.

Place the rolls in a greased 9x13 baking dish, cover, and allow to rise for another 30 minutes.

Preheat the oven to 350°F (175°C). Bake the rolls for 22–25 minutes until golden brown.

Whisk together 1 cup of powdered sugar, 2 tablespoons of brewed coffee, and ½ teaspoon of vanilla until smooth. Drizzle over warm rolls.