In a small bowl, combine warm milk, 1 tablespoon of sugar, and yeast. Stir and let sit for 5-10 minutes until frothy.

In a large bowl, whisk together flour, remaining sugar, and salt. Add melted butter, eggs, vanilla, and yeast mixture. Mix until dough forms.

Knead dough on a floured surface for 8-10 minutes until smooth. Alternatively, use a stand mixer for 5-7 minutes.

Place dough in a greased bowl. Cover and let rise in a warm area for 1-2 hours until doubled in size.

Punch down dough, divide into 12 pieces, roll each into a rope, and coil. Place on parchment-lined baking sheet.

Cover rolls and let rise for another 30-45 minutes until doubled.

Preheat oven to 350°F. Bake rolls for 15-20 minutes until golden brown and hollow when tapped.

Cool on a wire rack for at least 10 minutes, then dust with powdered sugar before serving.