In a mixing bowl, dissolve yeast in warm milk with the sugar and salt. Let sit for 5–10 minutes until foamy.
Add melted butter and eggs to the yeast mixture.
In a medium bowl, mix whole wheat flour and all-purpose flour,
Add the flour mixture to the wet ingredients to form a soft dough.
Knead dough on a floured surface for 8–10 minutes until smooth and elastic.
Place dough in a greased bowl, cover, and let rise for 1–1.5 hours or until doubled in size.
Punch down dough and roll into a 12x18-inch rectangle. Spread softened butter over the surface.
Mix brown sugar and cinnamon, then sprinkle evenly over the buttered dough.
Roll dough tightly from the long side and cut into 12 even rolls.
Place rolls in a greased 9x13-inch pan, cover, and let rise 30–40 minutes.
Preheat oven to 350°F. Bake rolls for 20–25 minutes until golden brown.
If desired, mix glaze ingredients and drizzle over warm rolls before serving.