In a small bowl, combine warm whole milk, granulated sugar, and active dry yeast. Let sit for 5-10 minutes.

In a large mixing bowl, add the frothy yeast mixture, melted unsalted butter, and eggs. Whisk until combined.

Gradually add all-purpose flour and salt to the wet mixture and stir until dough forms.

Knead the dough on a floured surface for 5-7 minutes until smooth and elastic. Let it rise in a greased bowl for 1-2 hours.

For the filling, mix Biscoff cookie butter and ground cinnamon until creamy.

Roll the dough to a rectangle, spread the filling, and roll tightly into a log. Slice into 12 pieces.

Place the rolls in a greased baking dish and let rise for 30-45 minutes.

Preheat the oven to 350°F and bake for 25-30 minutes until golden brown.

For the glaze, whisk powdered sugar, additional Biscoff cookie butter, and milk until smooth.

Drizzle the glaze over warm rolls and serve immediately.