In a small pot, warm the milk and butter until it feels warm to the touch (about 110 degrees).
Put the yeast and milk in a stand mixer, whisk, and let it sit for 1 minute.
To the stand mixer, add flour, sugar, salt, and eggs. Mix on low speed for about 7-8 minutes with a dough hook.
Cover the bowl and let it sit for about 15-20 minutes.
Preheat your oven to 350 degrees and grease a 9×13 baking pan.
In a bowl, mix cinnamon and sugar together.
Take the dough, roll it into 1" balls, and place them on a baking sheet.
Roll the balls in the cinnamon-sugar mix and put them in the pan.
Let it sit for around 20 minutes in a warm spot.
Bake for about 25-30 minutes.
While baking, combine the icing ingredients in a pot and whisk over medium-low heat until mixed well.
When the bites are out of the oven, drizzle them with the icing.