In a saucepan, heat 3/4 cup milk, sugar, 1/3 cup butter and salt. Stir until warm and butter almost melts. Don't let it get hot or boil.
In a mixer bowl combine 1 1/2 cups flour and yeast. Add warm milk mixture into flour mixture along with eggs. Beat on medium speed for about 3 minutes or until flour is combined. Add in remaining flour. Knead until smooth and elastic.
Place dough on surface in the shape of a ball. Lightly grease a bowl and place dough into bowl, turning to coat both sides with oil. Cover and let rise in a warm place until double in size (1-2 hours depending on warmth of room)
Punch dough down, put onto a lightly floured surface and let rest for 10 minutes
Roll dough into a 20 x 16 inch rectangle.
In a saucepan melt 1/3 cup butter and add in brown sugar and cinnamon. Mix well and allow to cool slightly. Spread over dough. Cut dough crosswise into twenty one inch strips.
Fold each strip in half, end to end and then twist several times. Arrange on a parchment lined baking sheet. You will need two pans. Place twists about 2 inches apart. Allow to rise until double in size, about 45 minutes
Bake in 375 degree oven for 12-15 minutes or until golden brown.
Mix together powdered sugar, vanilla and enough milk to make a good drizzling consistency. Drizzle over twists.
Video
Notes
How to store leftover cinnamon twists: Store in an air tight container and they will last 2-3 days. If you need them to last longer, wrap them in foil and put them in a freezer zippered bag and freeze.Thaw them in the refrigerator overnight and reheat in a 350 degree F oven. Keep them wrapped in foil to reheat.