Prepare the Dough: In a small bowl, combine the warm milk and granulated sugar. Sprinkle the yeast over the milk and let it sit for 5-10 minutes until it becomes frothy. In a separate large bowl, mix the melted butter, salt, eggs, and vanilla extract. Add the yeast mixture to the butter mixture, stirring to combine.

Make the Dough: Gradually add the flour, one cup at a time, mixing until the dough starts to come together. Once combined, knead the dough on a floured surface for about 5-7 minutes, or until smooth and elastic. Alternatively, you can use a stand mixer with a dough hook for this step. Place the dough in a greased bowl, cover with a clean kitchen towel, and let it rise in a warm place for 1-1.5 hours, or until it doubles in size.

Prepare the Filling: While the dough is rising, prepare the cinnamon-sugar filling. In a small bowl, combine the brown sugar, cinnamon, and softened butter. Mix until smooth and spreadable.

Roll the Dough: Once the dough has risen, punch it down and roll it out on a floured surface into a rectangle about 16×12 inches. Spread the cinnamon-sugar butter evenly across the surface of the dough, leaving a small border around the edges. Sprinkle the fresh blueberries over the cinnamon filling.

Shape the Rolls: Starting from the long edge, carefully roll the dough into a tight log. Slice the rolled dough into 12 equal pieces (use a sharp knife or dental floss to make clean cuts). Place the rolls in a greased 9×13-inch baking pan, arranging them in a snug, single layer. Cover the pan with a towel and let the rolls rise for an additional 30-45 minutes, or until puffed.

Bake: Preheat your oven to 350°F (175°C). Bake the rolls for 25-30 minutes, or until they are golden brown and cooked through. Keep an eye on them towards the end of baking to prevent overbaking.

Prepare the Glaze: While the rolls are baking, whisk together the powdered sugar, milk, vanilla extract, and a pinch of salt in a small bowl until smooth. If you want a thicker glaze, add more powdered sugar, and for a thinner glaze, add more milk.

Glaze the Rolls: Once the rolls are done baking, remove them from the oven and let them cool for 5 minutes. Drizzle the glaze over the warm cinnamon rolls for a sweet, creamy finish.

Serve: Enjoy these delicious Blueberry Cinnamon Rolls warm, straight from the pan! They’re perfect for breakfast, brunch, or even a sweet treat after dinner.