In a small bowl, combine 1/2 cup of warm milk, instant yeast, and 1 tablespoon of granulated sugar. Stir gently and let it sit for 5-10 minutes until frothy.

In a large mixing bowl, whisk together 3 1/2 cups of flour, remaining sugar, and salt. Add melted butter, eggs, vanilla, and the frothy yeast mixture.

Knead the dough for about 8-10 minutes until smooth and elastic. Let it rise in a greased bowl for 1 hour.

Mix softened butter, brown sugar, and cinnamon in a bowl for the filling.

Roll the risen dough into a rectangle and spread the filling evenly. Roll tightly and cut into 12 pieces.

Place rolls in a greased dish and let rise again for 1 hour.

Preheat oven to 350°F and bake for 25-30 minutes until golden brown.

Whisk together milk, sweetened condensed milk, and evaporated milk for the soak.

Pour the tres leches mixture over the warm rolls and let absorb for 30 minutes.

Whisk powdered sugar with enough milk for a smooth consistency and drizzle over the rolls.