Combine 1 ½ cups of the flour with the yeast in a large bowl. Set aside.

In a saucepan, heat the milk, butter, sugar, and salt until it reaches 120 degrees F. Remove it from the heat and stir it until the butter is melted.

Add the butter mixture to the flour and yeast.

Mix on low, using the paddle attachment, add the eggs one at a time.

Change the mixer attachment to the dough hook.

Knead the dough with the mixer on low, adding the remaining flour one cup at a time.

Increase speed to medium until a soft dough forms, approximately 3 minutes.

Transfer the dough to a lightly greased bowl, turning once to coat all sides.

Cover with a clean dish towel.

Allow the dough to rise in a warm place until doubled, about 1 ½ hours.

Punch down the dough and turn out onto a floured surface.

Cover and allow to rest for 5 to 10 minutes.

Using a rolling pin, roll the dough into a rectangle, approximately 20 inches by 10 inches.

Spread an even layer of peanut butter over the dough and then repeat with a layer of jam. Be sure to leave a 1-inch space on one long edge without the filling – this is the part of the dough that will hold it altogether.

Starting on the long side, roll the dough up, working it tightly but without pulling the dough too much. Seal the long edge by pinching it shut.

Cut the dough into 12 even slices by cutting the dough in half, cutting those halves in half and then the quarters into three slices each.

Spray a 9x13 baking pan/dish with tall sides with non-stick cooking spray. Place each roll in the pan, allowing about one inch between them.

Cover and allow to rise in a warm place about 40 minutes or until doubled.

Bake at 350 degrees for 25 to 30 minutes.

While the rolls bake, make the icing.

Combine the confectioner’s sugar, milk, and vanilla in a small bowl and whisk until smooth.

Remove the rolls from the oven and spread with icing while they are hot.