Preheat oven to 375°F. In medium bowl, combine butter and sugar. Mix well. Measure warm milk and add yeast. Whisk to dissolve. Add milk/yeast to sugar mixture. Add remaining ingredients. Mix very well, being sure to remove all lumps. Dough will be very soft. Take a piece of plastic and lay it out so it covers a 13 ½ by 13 ½ square (may need to overlap two pieces). Sprinkle sugar on the wrap. Lay ball of dough on top of that. Then pull out another sheet of wrap and gently lay over the dough. Pat the dough down into a roughly squarish pancake. Lift the top wrap up and re-position it. Use a rolling pin to roll out the dough in between the two layers of wrap. Occasionally you'll have to lift and re-position the wrap because it gets stuck under the edges. You might have to occasionally flip the whole thing over. Make sure that when you're done you've got ABOUT a 13 ½ x 13 ½ square of dough. Remove top piece of wrap. Combine filling ingredients. Spread evenly across doughs surface leaving about an inch edge at one end for the sugar to shift and fill in. Use the bottom piece of wrap to lift the edge of the dough and start to roll it up forming a long cylinder. Start with the sugary edge, which will be the center of your roll and roll toward the sugarless edge. Cut off or trim up the irregular ends of your log. Then cut into 8 or 9 slices of similar size, about 1 ½ inches wide. Place rolls into a greased round glass pie pan. Bake approximately 20 minutes, until tops are lightly browned and not doughy in the middle. Combine powdered sugar, vanilla, and milk to make glaze. Use enough milk to make the glaze as thick as desired. Drizzle over warm rolls, if desired.