Activate the yeast by mixing it with warm milk and sugar.
Combine melted butter, eggs, and the yeast mixture.
Gradually add flour to form a soft dough.
Allow the dough to rise until doubled in size, about 1 hour.
Prepare the filling by mixing brown sugar, cinnamon, and crushed Oreos.
Roll the dough into a rectangle and spread the filling evenly.
Roll the dough tightly and slice it into individual rolls.
Place the rolls in a greased baking dish and let them rise again for about 30 minutes.
Bake the rolls at 350°F for 25-30 minutes, until golden brown.
Prepare the glaze by mixing powdered sugar with milk until smooth.
Drizzle the glaze over the rolls and serve warm.
