Heat milk to about 100℉. If you don’t have a thermometer, you can check the temperature with a finger. It should feel warm but not so hot you can’t leave your finger in it.
Stir in the sugar and yeast. Allow to sit for 5-10 minutes. It should foam if your yeast is active. If it doesn’t, start over with new yeast.
While your yeast is getting bubbly, melt the butter in a large and set aside to cool.
When the yeast is ready, stir the mixture into the butter. Lightly beat the eggs and add to the bowl, mixing to combine.
Add the flour a bit at a time, stirring as you go. Once all of the flour is added, stir until it comes together in a ball.
Turn out onto a lightly floured surface and knead for about 10 minutes, or until the dough is smooth and elastic.
Place in an oiled bowl and cover with plastic wrap or a damp towel. Allow to rise until doubled in size, 1-2 hours.
Put dough on a lightly floured piece of parchment paper or silicone mat, roughly 8x13-inch in size. Gently press the dough out to evenly cover the rectangle.
Prepare the filling by melting the butter then stirring in the brown sugar, cinnamon and nutmeg. Spread over the dough.
Roll into a tight log, then cut the dough into 16 equal pieces without going all the way through.
Transfer the baking mat or parchment paper onto a baking sheet. Form the dough into a wreath by tipping a roll on its side, then slightly overlapping with the next roll, working your way around.
Place a small bowl or ramekin in the center of the wreath to help it hold its shape, then cover with plastic wrap or a damp towel. Allow them to rise for 45 minutes. (If you want to make overnight rolls, they can be covered and refrigerated for up to 14 hours after you form the wreath. Just bring them to room temperature and let them rise for 45 minutes before baking.)
Bake in a preheated 350℉ oven for 25 minutes.
To make the glaze whisk together the powdered sugar, melted butter, vanilla and 2 Tablespoons of milk until smooth. Add more milk as needed to get your desired consistency. Drizzle over warm cinnamon rolls. Top with sprinkles if desired.
These rolls are best enjoyed warm, but keep well. Store leftovers in an airtight container at room temperature for up to three days. Otherwise wrap the individual rolls and freeze them for later. A few seconds in the microwave will perk them right up.