In a medium bowl, combine warm milk, sugar, and active dry yeast. Let sit for 5-10 minutes until frothy.

Whisk together flour, salt, and ground cinnamon in a large bowl.

Mix the yeast mixture with melted butter and beaten eggs. Gradually add dry ingredients and stir until a loose dough forms.

Knead the dough on a floured surface for 8-10 minutes until smooth and elastic.

Let the dough rise in a warm place for 40-60 minutes, until doubled in size.

Roll out the dough and spread cinnamon filling, then roll into a log and shape into hearts.

Let shaped rolls rise again for 15-30 minutes until puffy.

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

Cool rolls for 5-10 minutes; mix icing sugar with milk and drizzle over rolls.