In a bowl, combine warm milk, sugar, and yeast. Let sit for 5–10 minutes until foamy.

Add melted butter, eggs, flour, and salt.

Mix until a soft dough forms.

Knead the dough for about 8–10 minutes until smooth and elastic.

Place the dough in a greased bowl and cover.

Let it rise in a warm place for about 1 hour, or until doubled in size.

In a bowl, mix together pistachio cream, brown sugar, cinnamon, and softened butter until smooth.

Roll the dough into a large rectangle on a lightly floured surface.

Spread the pistachio cinnamon filling evenly over the dough.

Sprinkle chopped pistachios if using.

Roll the dough tightly into a log.

Slice into 12 equal rolls using a sharp knife or dental floss.

Place the rolls in a greased baking dish.

Cover and allow them to rise again for 30–45 minutes.

Preheat oven to 350°F (175°C).

Bake the rolls for 20–25 minutes until golden brown.

In a small bowl, whisk together powdered sugar, milk, vanilla, and pistachio cream until smooth.

Drizzle glaze over warm cinnamon rolls and serve immediately.