Warm the milk and butter together until melted and let it cool to about 110°F. Stir in sugar and yeast; let sit until foamy, about 5 minutes.

In a large bowl, combine the yeast mixture with eggs, salt, and 2 cups of flour. Gradually add remaining flour and knead until smooth.

Cover the dough and let it rise in a warm place until doubled, about 1 hour.

Roll out the dough into a rectangle, spread with melted butter, and sprinkle with brown sugar mixed with cinnamon and cardamom.

Roll up the dough tightly, cut into 12 even pieces, place them in a greased baking dish, and let them rise for another 30 minutes.

Preheat the oven to 350°F. Bake the rolls for 25 minutes or until golden brown.

Mix powdered sugar with milk to make the glaze, and drizzle over warm rolls before serving.