In a large mixing bowl, combine 3 cups of the flour and the yeast.
In a saucepan, heat the 1-3/4 cup milk, the 1/3 cup butter, the 1/4 cup sugar, and the salt until just warm (120 degree F to 130 degree F) and butter is almost melted, stirring constantly. Add to flour mixture. Add eggs.
Beat with an electric mixer on low speed for 30 seconds, scraping bowl. Beat 3 minutes on high speed. Stir in as much remaining flour as you can with a spoon.
Turn out onto a lightly floured surface. Knead in enough of the remaining flour to make a moderately stiff dough thats smooth and elastic (6 to 8 minutes total). Shape into a ball.
Place in a lightly greased bowl; turn once to grease surface. Cover and let rise in a warm place until doubled (about 1-1/4 hours).
Punch dough down. Turn out onto a lightly floured surface. Divide dough in half. Cover and let rest 10 minutes.
Lightly grease two 9x5x3-inch loaf pans. Roll each half of dough into an 18x8-inch rectangle. Brush entire surface lightly with melted butter. Combine the 1 cup sugar and the cinnamon; sprinkle half of the mixture over each rectangle.
Beginning with the narrow end, roll up, jelly-roll style; seal edge and ends. Place sealed edges down in the prepared pans. Cover and let rise until nearly doubled (35 to 45 minutes).
Bake the loaves in a 375 degree F oven for about 35 minutes or until done. Cover loosely with foil for the last 15 minutes to prevent overbrowning. Remove from pans. Cool on wire rack.
Combine sifted powdered sugar and vanilla. Stir in enough milk (3 to 4 tablespoons) to make drizzling consistency. Drizzle over the bread while warm. Makes 2 loaves (32 servings).