In a mixing bowl, combine warm milk, sugar, and yeast. Let it sit for 5 minutes until frothy.

Add melted butter, beaten eggs, and salt. Gradually mix in flour until a dough forms.

Knead the dough on a floured surface for about 5 minutes until smooth. Place in a greased bowl, cover, and let rise for 1 hour.

In a separate bowl, mix brown sugar and cinnamon. Set aside.

Once the dough has risen, roll it out into a rectangle on a floured surface.

Spread softened butter over the dough, then sprinkle the cinnamon-sugar mixture evenly on top.

Roll the dough tightly into a log and cut into 12 equal pieces.

Place the rolls on a greased baking sheet. Cover and let rise for another 30 minutes.

Preheat the oven to 350°F (175°C). Bake the rolls for 20-25 minutes until golden brown.

In a bowl, whisk together powdered sugar, milk, vanilla extract, and food coloring until smooth.

Drizzle the icing over the warm cinnamon rolls. Serve and enjoy your Halloween treat!