In a large mixing bowl, combine the warm milk, vegetable oil, and sugar. Sprinkle the yeast over the top and let it sit for about 5-10 minutes until it becomes foamy.

Whisk in the eggs until well combined. Gradually add the flour, one cup at a time, mixing until a soft dough forms.

Turn out the dough onto a floured surface and knead for about 5-7 minutes until smooth and elastic. Place it in a greased bowl, cover it with a damp cloth, and let it rise for 1 hour or until it doubles in size.

In a small bowl, mix together the ground cinnamon and sugar for your filling.

After the dough has risen, punch it down and roll it out onto a floured surface into a large rectangle. Brush the melted butter over the dough and evenly sprinkle the cinnamon-sugar filling on top.

Roll the dough tightly from the long side into a log, pinching the edges to seal. Cut the log into 12 equal pieces and arrange them in a greased baking dish.

Cover the baking dish with a towel and let it rise for another 30 minutes, again until the dough has puffed.

Preheat your oven to 350°F (175°C). Bake the bread for about 30-35 minutes or until golden brown.

While the bread is baking, whisk together the powdered sugar, vanilla extract, and a splash of water until smooth.

Once baked, let the bread cool for a few minutes, then drizzle the icing over the top before serving.