In the bowl of a stand mixer, combine warm milk and sugar. Sprinkle yeast on top and let sit 5–10 minutes until foamy.
Add melted butter, eggs, and salt. Mix lightly, then gradually add flour on low speed until a soft dough forms.
Increase to medium speed and knead for 5–7 minutes until smooth and elastic.
Transfer to a greased bowl, cover with a towel, and let rise 1–1.5 hours or until doubled in size.
In a small bowl, mix the filling ingredients: softened butter, honey, and rosemary.
Punch down dough and roll into a large rectangle. Spread filling evenly, cut into squares or rectangles.
Fold or roll each dough piece, sealing the filling, and place in a greased 9×13-inch baking dish seam side down.
Cover and let rise 30–45 minutes until puffy.
Preheat oven to 375°F (190°C).
Bake rolls for 20–25 minutes or until golden brown.
While baking, melt glaze ingredients in a saucepan. Brush glaze over warm rolls after baking.
Cool for 10 minutes and serve warm.