Dissolve yeast in warm water and let stand for 5 minutes. Grease a baking sheet (half-sheet size pan).

Whisk together flour, sugar, and salt in a medium bowl. Cut in butter using a pastry blender until it is the consistency of cornmeal.

Use a fork to beat the egg yolks into the milk. Gradually stir in milk/egg mixture and yeast to flour mixture to make a soft dough.

Cover bowl with plastic wrap and chill dough for 4 hours.

Prepare filling as soon as you place the dough in the fridge to chill. Stir together preserves and bread crumbs in a small bowl.

On a lightly floured surface, roll dough into a 12-inch log. The dough will be soft and sticky. Cut dough into 12 equal pieces.

Roll each piece into an 8- X 3-inch rectangle on a floured surface. Flour the rolling pin to keep it from sticking to the dough.

Spread 1 tablespoon of filling down the center of each piece.

Pull sides of dough to center and pinch edges and ends to seal. Roll up loosely and place it on its side on the baking sheet. Press down to flatten to a 3- or 4-inch diameter circle.

Repeat with the remaining pieces placing them about 2 inches apart on the baking sheet.

Cover rolls with a kitchen towel and let rise in a warm place until almost doubled, about 1 hour.

Preheat oven to 350°F while rolls are rising.

Bake rolls for 15 to 18 minutes, until golden brown. Transfer rolls from baking sheet to a wire rack.

Drizzle glaze over warm rolls.

Stir together confectioners sugar, milk, and vanilla in a small bowl until combined.