Heat the milk in a microwavable bowl for 40 seconds.
Add the yeast, sugar, eggs and melted butter.
Stir in the flour and knead the dough (I used a dough hook in a free-standing mixer). If the dough is sticky, add an extra tbsp of flour.
Place the dough in an oiled bowl for an hour or so.
Roll out the dough on a floured surface and make a large rectangle.
Mix together the filling and spread this onto the dough.
Roll and cut into buns (should make between 7 - 9 buns depending on size).
Grease and line a cake tin and fill with the cinnamon rolls.
Cover for a further 30-45 minutes.
Preheat the oven to gas mark 4 or 180 degrees.
Brush the cinnamon rolls with milk and bake for 20-25 minutes.
When the buns come out of the oven, make the topping and spread over the buns.