Activate yeast: In a small bowl, combine warm milk, instant yeast, and 1 tablespoon sugar. Let rest 5–10 minutes until frothy.

Prepare dough: In a large bowl, mix flour, remaining sugar, and salt. Add melted butter, eggs, and vanilla extract. Pour in the yeast mixture.

Knead & rise: Knead until smooth and elastic (8–10 minutes). Cover and let rise in a warm spot for 1 hour or until doubled in size.

Make filling: In a small bowl, mix softened butter, brown sugar, and cinnamon until combined.

Shape rolls: Roll dough into a rectangle. Spread filling evenly, roll tightly, and slice into rolls.

Second rise: Place rolls in a greased baking dish, cover, and let rise for another hour.

Bake: Bake at 350°F (175°C) until golden brown, about 25–30 minutes.

Make tres leches soak: In a bowl, mix whole milk, sweetened condensed milk, and evaporated milk.

Soak rolls: While warm, pour tres leches mixture over baked rolls and let it absorb.

Frost: Whisk powdered sugar with milk until smooth. Drizzle over warm rolls and serve.