In a small pan warm the milk until it's lukewarm. Pour the milk into a large bowl.

Add the sugar and yeast to the milk and gently stir with a spoon until the sugar has dissolved. Cover the bowl with a tea towel and let the mixture sit until the yeast is foamy - this should only take 5-10 minutes.

Using a dough hook (or a spoon if not using an electric mixer) beat in the butter on a low speed until it has broken into little pieces.

Still on a low speed, add the eggs one at a time. Then gradually add the flour.

Once all ingredients are added, beat on a medium speed until you have a soft dough - about 6 minutes. (If you are not using a mixer you can knead the dough by hand for this step).

Transfer the dough to a lightly floured surface and knead it by hand for 1 minute. Form the dough into a ball and transfer into a lightly greased bowl and cover loosely with a piece of lightly greased cling film. Leave to rise in a warm place until it has doubled in size (around 1 to 2 hours).

Lightly grease a baking tray with butter and line with grease-proof paper - a 9x13 inch tray is perfect.

Once your dough has doubled in size, turn it out onto a lightly floured surface and using a rolling pin, roll it into a rectangle around 13x18 inches in size. It's important to make sure your dough is of even thickness all over to ensure you have nice neat buns.

Spread the butter over the dough (I find using my fingers to be the easiest way to do this!) right up to the edges.

In a small bowl, mix the sugar and cinnamon together and then sprinkle evenly all over the buttered dough.

Roll the dough tightly and evenly to create a 18 inch sausage. Cut the sausage into 12 individual rolls - I tend to cut in half, quarters and then thirds to make sure I get even rolls. Arrange the rolls in your pre-prepared tray and cover loosely with lightly greased cling film.

Leave to rise in a warm place for 1-2 hours until they look light and puffy.

After your buns have gone through their second rise, remove the cling film and place the tray in a pre-heated oven at 180°c and bake for around 20 minutes until golden brown.

Mix together the icing sugar, vanilla extract and milk to create the icing. You can add more or less milk depending on your personal preference.

Spread evenly across the buns shortly after the come out the oven. Leave your cinnamon buns to cool a little until they are just warm and enjoy.