Warm the milk slightly and stir in the yeast and a pinch of the sugar. Let sit 5 minutes until foamy.
2½ teaspoons active dry yeast, 1 cup whole milk, ¼ cup granulated sugar
Add the yeast mixture to a mixing bowl with the remaining sugar, melted butter, salt, and eggs. Mix in the flour until the dough pulls away from the bowl and is still slightly sticky. Knead 5-7 minutes until smooth and elastic.
⅓ cup butter, 1 teaspoon salt, 2 large eggs, 3½ cups all-purpose flour
Cover and let rise in a greased bowl until doubled, about 1½ hours.
Grease a 12-cup Bundt pan well with butter. Punch down the dough and cut into about 30 equal pieces.
Dip each piece of dough in melted butter, then roll in the cinnamon sugar mixture. Layer the pieces in the Bundt pan.
½ cup butter, 1 cup granulated sugar, 2 teaspoons ground cinnamon
Cover and let rise 45 minutes to 1 hour. Preheat oven to 350°F.
Stir the brown sugar into the remaining melted butter and spoon over the risen dough.
1 Tablespoon brown sugar
Bake 35-40 minutes until deep golden and cooked through, tenting with foil if browning too quickly.
Cool in the pan 5-10 minutes, then invert onto a serving platter while still warm.
Whisk together the powdered sugar, milk, and vanilla until smooth, then drizzle over the warm bread.
1 cup powdered sugar, 2 Tablespoons milk, ½ teaspoon vanilla extract
Notes
Yields: About 30 bread bites, serves approximately 12 people with 2-3 pieces each. Make Ahead Instructions: Make the dough up until the first rise. Cover the bowl well and store in the fridge for several hours or overnight. When ready to bake, divide, shape and roll the dough as directed, allowing it to rise a second time before baking.