Warm milk and butter until butter melts, then let it cool slightly.
Mix milk mixture with yeast, sugar, salt, eggs, and vanilla. Add flour gradually and knead until smooth and elastic.
Let dough rise in a greased bowl until doubled in size (1.5–2 hours).
Melt butter for dipping and mix cinnamon, brown sugar, and salt in a separate bowl.
Punch down dough and roll into 1-inch balls (about 85–90 pieces).
Dip each ball in melted butter, then coat in cinnamon sugar. Place in a greased baking pan.
Let rise again for about 30 minutes until puffy.
Bake at 350°F (175°C) for about 30 minutes until lightly golden.
Whisk icing ingredients until smooth.
Drizzle over warm bites and serve.