Warm milk, water, and butter in a saucepan until butter almost melts. Mix 3 cups of flour, yeast, sugar, and salt in a bowl, then combine with the warm mixture and yogurt. Knead until smooth, adding extra flour if needed, and let it rise for about 1 hour.
Roll the dough into a rectangle, spread softened butter, then sprinkle the cinnamon-sugar mixture evenly. Roll both sides toward the middle, cut into 12 pieces, and shape each into a heart by stretching slightly and pinching the bottom. Place on a baking sheet and let rise for 30–40 minutes.
Preheat the oven to 350°F (175°C). Bake the rolls for 20–22 minutes until golden brown. Let them cool slightly before drizzling with icing.
Mix powdered sugar, vanilla, and milk to create a smooth glaze. Adjust milk for thinner or thicker consistency. Drizzle over warm rolls for the perfect finishing touch.