01 - Combine warm milk and yeast in a large mixing bowl. Let stand for 5 minutes until mixture becomes foamy, indicating the yeast is active.
02 - Whisk sugar, melted butter, eggs, and salt into the yeast mixture. Gradually incorporate flour, mixing until a soft, shaggy dough forms.
03 - Turn dough onto a lightly floured surface. Knead for 8 to 10 minutes until smooth and elastic. Transfer to a greased bowl, cover with plastic wrap, and let rise in a warm area for 1 hour until doubled in volume.
04 - Mix brown sugar and cinnamon in a small bowl. In a separate bowl, coat blueberries with 1 tablespoon flour to prevent excess moisture during baking.
05 - Punch down risen dough and roll into a 16×12 inch rectangle. Spread softened butter evenly over surface. Sprinkle cinnamon-sugar mixture, then distribute floured blueberries across the dough.
06 - Starting from a long edge, roll dough tightly into a log. Using a sharp knife or dental floss, slice crosswise into 12 equal pieces.
07 - Place rolls cut-side up in a greased 9×13 inch baking dish. Cover and let rise for 30 to 45 minutes until puffy and nearly doubled.
08 - Preheat oven to 350°F. Bake rolls for 22 to 25 minutes until golden brown and center rolls are fully cooked through.
09 - Whisk powdered sugar, milk, and vanilla extract until smooth and pourable. Drizzle glaze generously over warm rolls immediately before serving.