1. In a large bowl, combine warm milk, sugar, and yeast. Let it sit for 5-10 minutes until frothy.
2. Add melted butter, eggs, vanilla, and salt to the yeast mixture. Mix well.
3. Gradually add flour and knead until a soft dough forms.
4. Cover the dough and let it rise in a warm place for about 1 hour or until doubled in size.
5. Roll out the dough on a floured surface into a rectangle.
6. Spread melted butter over the dough, then sprinkle with brown sugar and cinnamon.
7. Roll the dough tightly and cut into rolls.
8. Place the rolls in a greased baking dish and let them rise for another 30 minutes.
9. Bake in a preheated oven at 350°F (175°C) for 25-30 minutes or until golden brown.
10. In a separate bowl, mix the three milks together.
11. Once the rolls are baked, pour the milk mixture over the warm rolls and let them soak.

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