In a small bowl, combine warm milk, sugar, and yeast. Let sit for 5-10 minutes until foamy.
In a large bowl, combine flour, salt, and sugar. Add yeast mixture, melted butter, and eggs, then mix until dough forms.
Knead dough for 5-7 minutes, then place in a greased bowl and cover. Let rise for 1-2 hours until doubled in size.
Roll out dough on a floured surface, spread with softened butter, cinnamon, and brown sugar.
Roll up dough tightly, cut into 12 pieces, and place in a greased 9x13 pan.
Pour caramel sauce into pan, covering the bottom. Place rolls in pan and let rise for 30 minutes.
Preheat oven to 350°F (175°C) and bake for 25-30 minutes until golden brown.
Serve warm and enjoy!
