Preheat your oven to 350°F and grease your bundt pan.
In a large bowl, whisk together the flour, baking powder, salt, cinnamon, and granulated sugar. In another bowl, mix the milk, eggs, melted butter, and vanilla extract until smooth. Gradually add the wet mixture to the dry ingredients and stir until a soft dough forms.
In a separate bowl, combine the brown sugar, cinnamon, and granulated sugar for the coating.
Pinch off small pieces of dough, roll into balls, dip in melted butter, and then roll in the cinnamon sugar mixture. Layer the coated dough balls in the prepared bundt pan.
Pour any remaining melted butter and sprinkle leftover sugar mixture on top. Bake for 30-35 minutes until golden brown.
Allow to cool in the pan for 10 minutes, then invert onto a serving plate and serve warm.