Preheat the oven to 350°F (175°C) and grease a muffin tin.
In a large bowl, whisk together flour, sugar, baking powder, cinnamon, and salt.
In another bowl, whisk milk, eggs, vanilla extract, and melted butter.
Gradually combine wet and dry ingredients, stirring until just mixed.
Divide batter evenly into the muffin tin and bake for 18-20 minutes until golden brown.
While warm, brush muffins with melted butter and roll them in cinnamon sugar.
Serve warm and enjoy!