Combine milk, sugar, salt and butter in a small saucepan. Heat over low heat until butter melts and sugar dissolves. Cool to lukewarm.
Dissolve yeast in warm water in a warmed mixing bowl. Add the lukewarm milk mixture, eggs and 3 cups flour. Beat on low speed of electric mixer for 1 minute, scraping bowl frequently. Stir in enough remaining flour to make dough easy to handle.
Turn dough onto lightly floured surface. Knead about 5 minutes or until smooth and elastic. Place in a greased bowl and turn greased side up. Cover and let rise in warm place about 1 1/2 hours or until doubled in size. (Dough is ready if indentation remains when touched.)
Roll dough to a 10 x 30 x 1/4-inch rectangle.
Combine ingredients for Sugar/Cinnamon mixure in a bowl until crumbly. Spread sugar/cinnamon mixture evenly on dough. Roll dough tightly from long side to form 30-inch roll, pinching seam together. Cut into twenty four 1 1/4-inch slices.
Place slightly apart on greased 15 1/2 x 10 1/2 x 1-inch baking sheet. Cover and let rise in warm place until doubled in size. About 1 hour.
Bake at 350° F for about 20 minutes. Remove from pan immediately. Spread Caramel Glaze over warm rolls.
To make Caramel Glaze: Combine evaporated milk and brown sugar in small saucepan. Over medium heat, cook, stirring constantly, until mixture begins to boil. Remove from heat. Add powdered sugar and vanilla and beat vigorously until smooth and creamy.Servings: 24. Yield: 24 rolls