Creating Homemade Cinnamon Rolls is straightforward if you follow these steps:

1. Prepare the Dough: In a large bowl, combine 2 cups of flour, granulated sugar, yeast, and salt. Mix well.
2. Heat the Milk: In a small saucepan, heat milk until warm but not boiling. Stir in melted butter, then let cool slightly.
3. Combine Ingredients: Add the warm milk mixture and eggs to the flour mixture. Stir until combined.
4. Knead the Dough: Gradually add the remaining flour while kneading until the dough is smooth and elastic, about 5-7 minutes.
5. First Rise: Place the dough in a greased bowl and cover with a clean kitchen towel. Let it rise in a warm place for 30 minutes.
6. Prepare the Filling: In a small bowl, mix together the brown sugar, cinnamon, and chopped nuts (if using).
7. Roll Out the Dough: Once the dough has risen, roll it out on a floured surface into a rectangle about ¼ inch thick.
8. Add Filling: Spread the melted butter over the dough, then sprinkle the cinnamon-sugar mixture evenly across the surface.
9. Shape the Rolls: Starting from the long side, tightly roll the dough into a log. Slice the log into 12 equal pieces.
10. Second Rise: Place the rolls in a greased baking dish, cover, and let them rise for another 30 minutes.

11. Bake: Preheat the oven to 350°F (175°C). Bake for 25-30 minutes or until golden brown.
12. Cool and Ice: Once baked, remove from the oven and let cool for about 10 minutes. Meanwhile, whisk together powdered sugar, milk, and vanilla extract for the icing. Drizzle over the warm rolls.

These simple steps will guide you to creating incredibly delicious Homemade Cinnamon Rolls that everyone will love!