In a medium size bowl, beat the eggs with a fork. Add ¾ cup warm water and yeast, stirring to dissolve yeast. It may not dissolve completely at this point, but that’s okay. Refrigerate mixture for 10 minutes.
Meanwhile, in a large mixing bowl, mix the flour, salt and sugar. With a pastry blender or fork or your fingers, blend in butter, until it resembles coarse crumbs.
Make a well in the center and pour in the yeast mixture. Stir to blend. Dough will be loose and a little sticky. Gather dough onto a floured surface and knead until smooth, about 2 minutes. If you prefer, you can do this all in a stand mixer bowl and knead with the dough hook.
Dough should be smooth and elastic, but still very soft. Form dough into a ball and place in lightly greased bowl. Cover bowl and chill for at least 2 hours, or overnight.
When ready to bake, roll dough into a 12x14 inch rectangle. IF you made a half batch of dough, make a rectangle that is 6x14. You can do this on a pastry mat or a well-floured surface. If your dough is oily and stiff from the refrigerator and you are using a pastry mat, you can probably get away without using any flour on the surface.
In a bowl, mix together the brown sugar and cinnamon. Brush the dough with melted butter and sprinkle with the sugar mixture, leaving a 1-inch border. Starting at the short side (12 inch) Roll the dough up to form a jelly roll. With a serrated knife, cut the roll into 1-inch slices.
Place slices on a greased baking sheet and allow to rise in a warm place about 30 minutes. Generously sprinkle with the granulated sugar if desired. Bake in a preheated 350°F oven for 25-30 minutes. Allow rolls to cool slightly on wire racks placed over wax paper.
To make Icing, mix the melted butter confectioners' sugar and milk together until smooth. Drizzle icing over rolls and serve.