In a large bowl, combine flour, crumbled yeast, sugar, salt, butter with your finger tips until they are like crumbs and well mixed.
Make a well in the center, add the eggs one by one, mixing well with finger tips.
Add the milk to this, combining with wooden spoon or fingertips to get the dough together.
Once it forms a ball, transfer to lightly floured counter and knead for 10 minutes with heel of your palm, folding it back and again stretching with heel of palm. In the end, make a smooth ball with floured hands. Place in oiled bowl, covered properly, to rise to at least double the size (1-2 hours) in a warm, draught free place.
Combine the cinnamon and sugar in a small bowl and keep aside.
Butter a baking dish 9X13 inches or use two smaller trays and keep aside.
Once dough has risen to double, remove from bowl on lightly floured surface. Punch down and lightly roll out using a rolling pin, roughly 15 inches in length and 9 inches wide.
Cover the entire surface with the cinnamon sugar, lightly pressing down the coating into the dough with finger tips.
Roll along the length into a tight jelly-roll. Cut into 1" slices, placing them cut side up on the greased baking tin. Keep a little space between rolls, to allow for the second rise.
If you baking in a single large baking tray- place them in 3 rows of 5 rolls to make 15 rolls.
Cover and keep aside for 45 minutes. Or you could place the entire tray inside of a big plastic shopping bag, twist the end and tuck it under tray to have a warm, draught free environment.
Preheat oven to 175 C. Once the rolls have doubled / risen, brush with melted butter and place them in a middle rack and bake for 20-25 minutes until tops are golden.
Meanwhile, in a medium bowl, whisk the powdered sugar, milk and extract until you get a glaze of pouring consistency. While the rolls are hot, using a spoon, drizzle the glaze criss cross all over the rolls.
Eat/serve warm straight from pan.