Dissolve active dry yeast in warm milk. Combine all-purpose flour, sugar, and salt in a bowl. Cut in butter until coarse crumbs. Mix in the yeast mixture, warm half-and-half, and egg yolks to form sticky dough. Cover and refrigerate overnight.

After chilling, punch down the dough. Divide into four portions, roll each into an 18" x 4" rectangle, and cut into 1-inch strips. Twist two strips together to form rings. Place on greased baking sheets.

Cover shaped Danishes with a towel and let them rise in a warm place for about 45 minutes until doubled in size.

Preheat oven to 350°F. Indent centers of each Danish and fill with cherry pie filling. Bake for 14-16 minutes until golden brown.

Prepare icing by mixing confectioners’ sugar, softened butter, vanilla extract, salt, and half-and-half until smooth. Adjust thickness as desired.

Once cooled, drizzle icing over Danishes. Serve warm with coffee or tea.