Warm the whole milk until it's slightly warm to the touch but not hot. In a large mixing bowl, combine the instant yeast, granulated sugar, and salt. Pour the warm milk over the dry ingredients and mix well. Allow it to rest for about 5 minutes until it becomes frothy.

Add the melted butter, eggs, and vanilla extract to the yeast mixture, and stir until completely combined.

Gradually add the all-purpose flour while mixing until a soft dough forms. Knead the dough on a floured surface for about 5-7 minutes until it becomes smooth and elastic.

Place the dough in a greased bowl, cover it with a clean cloth, and let it rise in a warm place for about 1 hour, until it has doubled in size.

Once the dough has risen, punch it down and roll it out on a floured surface into a rectangle, about ¼ inch thick.

Spread softened butter over the rolled-out dough, leaving a border around the edges. Mix the ground cinnamon and brown sugar together, then sprinkle it evenly over the buttered dough.

Starting from one edge, roll the dough tightly into a log. Cut the log into 12 equal pieces and place them in a greased baking dish.

Cover the dish and allow the rolls to rise for another 30 minutes.

Preheat your oven to 350°F (175°C). Bake the rolls for 25-30 minutes, or until they are golden brown.

While the rolls are baking, prepare the three-milk soak by whisking together the evaporated milk, condensed milk, and whole milk in a bowl.

Once the rolls are out of the oven, let them cool for a few minutes. Then, pour the milk mixture evenly over the warm rolls, allowing it to soak in.

For the icing, mix the powdered sugar, milk, and vanilla extract in a bowl until smooth. Drizzle the icing over the soaked rolls before serving.