Creating these Tres Leches Cinnamon Rolls is easier than you might think. Just follow this guide step by step:

1. Prepare the Dough: In a large bowl, combine flour, granulated sugar, yeast, and salt. Slowly add warm milk, melted butter, eggs, and vanilla. Mix until a dough forms.

2. Knead the Dough: Transfer the dough to a floured surface. Knead for about 5-7 minutes until it becomes smooth and elastic. Place in a greased bowl, cover, and let it rise until it doubles in size (about 1 hour).

3. Make the Filling: In a small bowl, mix the softened butter, brown sugar, and ground cinnamon until well combined.

4. Roll Out the Dough: After the dough has risen, punch it down and roll it out into a rectangle about ¼ inch thick.

5. Spread the Filling: Evenly spread the cinnamon filling mixture over the rolled-out dough, leaving a small border around the edges.

6. Roll Up the Dough: Starting from one edge, tightly roll the dough into a log. Pinch the seams to seal.

7. Cut into Rolls: Slice the log into 12 equal pieces and place them in a greased baking dish.

8. Let Them Rise Again: Cover the rolling dish with a cloth and allow the rolls to rise for another 30 minutes.

9. Bake: Preheat your oven to 350°F (175°C). Bake the rolls for 25-30 minutes, until golden brown.

10. Prepare the Tres Leches Soak: While the rolls are baking, mix together the whole milk, sweetened condensed milk, and evaporated milk in a bowl.

11. Soak the Rolls: Once baked, remove the rolls from the oven and pour the tres leches mixture evenly over them. Allow to soak for about 15-20 minutes.

12. Make the Frosting: Whisk together powdered sugar, milk, and vanilla extract until smooth. Drizzle over the soaked rolls.