Heat the milk, granulated sugar, butter, and salt in a saucepan over medium heat until the butter is melted and the mixture reaches 105–110°F. Do not let it boil.
In a stand mixer, combine the flour and active dry yeast.
Pour the warm milk mixture into the mixer, add the eggs, and beat for about 3 minutes.
Add the remaining flour and knead until the dough is smooth and elastic.
Transfer the dough to a greased bowl, turn to coat, cover, and let rise for 1 to 2 hours until doubled in size.
Punch down the dough and let it rest for 10 minutes.
Roll the dough into a 20×16 inch rectangle.
Prepare the cinnamon-sugar filling and spread it evenly over the dough.
Cut the dough into 1-inch strips, fold each strip in half lengthwise, and twist the halves together.
Place the twists on a parchment-lined baking sheet.
Bake at 375°F for 12 to 15 minutes, until golden brown.
Mix the powdered sugar, vanilla, and milk to make the glaze.
Drizzle the glaze over the twists while they are still warm.
