Add the milk, eggs, butter, and sugar to the KitchenAid mixing bowl with dough hook attachment.
Add the flour, making a small well in the center of the flour. Pour the yeast and salt into the well.
Start the mixer and stir until the dough comes together. Knead with the dough hook for 5 minutes.
Turn off the mixer and let stand for 10 minutes. Turn the mixer back on and knead for another 5 minutes.
Turn the dough out of mixer and knead then place in a lightly greased bowl covered with plastic wrap. Let rest in warm place until doubled in size.
After the dough has doubled in size turn it out onto a lightly floured surface, cover and let rest for 10 minutes.
For the Filling
In a small bowl, combine brown sugar and cinnamon. Set aside.
Roll the dough into a 16x21-inch rectangle. Spread with ⅓ cup butter and sprinkle evenly with sugar/cinnamon mixture.
Roll up the dough and cut into 12 rolls. Place rolls in a lightly greased 9x13 inch baking pan. Cover and let rise until nearly doubled, about 30 minutes.
Preheat the oven to 350°F. Bake rolls in preheated oven for 35 minutes, until golden brown.
For the Frosting
While the rolls are baking, mix together butter, confectioners' sugar, vanilla extract and almond milk. Spread frosting on warm rolls before serving.