To make the dough, in the bowl of a stand mixer, sprinkle the yeast over the water, allow to bloom for a few minutes, then whisk until smooth. Whisk in 1/2 cup (2 1/2 oz/75 g) of the flour. Cover with plastic or bee's wrap and let stand in a warm spot, about 30 minutes.
Add the eggs, sugar, salt, and the remaining 4 cups (20 oz/625 g) flour to the yeast mixture. Fit the mixer with the dough hook and knead on medium speed until smooth, 3-4 minutes. Add the room temperature butter and continue to knead, adding a little flour to reduce stickiness if needed, until the dough is smooth, 10-12 minutes. Cover with plastic or bee's wrap, and let rise until doubled, about 2 hours.
Butter a 9x13-inch (23x33cm) baking dish. Transfer the dough to a floured work surface. Roll out into a 15-by-10-inch (38-by-25-cm) rectangle. Brush the rectangle with half of the melted butter, leaving a 2-inch (5-cm) wide strip uncovered on one long side. Combine the sugar and cinnamon and sprinkle over the butter. Starting at the long side covered with butter and sugar, roll up the rectangle snugly and pinch the seam together. With the seam facing down, cut into 10 equal pieces. Place the pieces, cut side up, in the dish. Brush with the remaining butter. Cover with wrap and let rise in the refrigerator overnight.
The next morning, remove from the refrigerator and let rise until half again as high, about 1 hour. Preheat the oven to 350°F (180°C). Bake until golden brown, about 30 minutes. Let cool in the pan for 15 minutes.
Meanwhile, make the glaze. In a small bowl, sift together the powdered sugar and salt. In a separate bowl, whisk together the butter, milk, and vanilla and stir into the sugar to form a smooth paste. Spread the glaze over the slightly cooled cinnamon rolls and serve warm.
Source: Williams-Sonoma's Family Meals Cookbook by Maria Helm Sinskey