In a mixing bowl, sprinkle the yeast over warm milk and let it sit for 5 minutes until frothy. Add melted butter, sugar, salt, and stir to combine.
2 1/4 teaspoons active dry yeast, 1 cup warm milk
Gradually add flour one cup at a time, mixing after each addition, until a soft dough forms. Knead the dough on a floured surface for about 5-7 minutes until smooth and elastic.
4 cups all-purpose flour
Place the dough in a lightly greased bowl, cover with a damp cloth, and let it rise in a warm area for about 1 hour until doubled in size.
On a floured surface, roll out the dough into a rectangle about 16x12 inches. Mix brown sugar and cinnamon, then evenly spread over the dough. Roll the dough tightly from the longer edge into a log.
1/2 cup brown sugar, 2 tablespoons ground cinnamon
Cut the rolled dough into 8 equal slices using a sharp knife or dental floss. Arrange the slices in a greased baking dish, leaving space between each. Cover and let rise for another 30 minutes.
Preheat the oven to 350°F (175°C). Bake the rolls for 25 minutes until golden brown and fragrant. Remove from oven and let cool slightly.
Meanwhile, whisk powdered sugar with milk until smooth to make the glaze. Drizzle generously over the warm rolls before serving.
1 cup powdered sugar, 2-3 tablespoons milk
