Begin by warming the milk in the microwave or a saucepan. It should be warm, but not hot, ideally around 120°F.
Place the warm milk, yeast, and granulated sugar in a large bowl. Let this rest until the yeast becomes frothy, 5-10 minutes.
Add the melted butter, salt, and 1 cup of the flour. Stir vigorously until well combined, then add half of the remaining flour.
Using a wooden spoon, stir the mixture, adding the remaining flour a little at a time, until it comes together in a shaggy dough. You may not use all of the flour.
Turn the dough onto a lightly floured surface and knead for 5-10 minutes until you have a smooth, soft dough.
Place the dough in a lightly oiled bowl, cover it, and let it rest in a warm, draft-free place until doubled in size. This will take 45 minutes to an hour, depending on the warmth of your kitchen.
Once the dough has doubled, turn it out onto a lightly floured surface, do not punch it down.Roll the dough into a rectangle of approximately 9x11 inches using a rolling pin, with the shorter end facing you. Spread two tablespoons of softened butter over the dough, then sprinkle with the brown sugar and, finally, the ground cinnamon.
Roll the dough with the end closest to you to form a log.Using a sharp knife, slice the dough into 4 or 6 equal pieces, depending on how large you'd like them, then place them into a lightly greased deep dish pie plate, leaving at least one inch of space between the rolls to allow room to rise. A round cake pan may also be used, or you can use a smaller square or rectangle pan. Cover with a tea towel and let rise in a warm spot for approximately 20 minutes.
While the rolls are rising, preheat the oven to 375°F. Bake the rolls for 25-40 minutes until golden brown. If you have an instant-read thermometer, rolls are done when the internal temperature is between 200-210°F.
Remove the rolls from the oven and let them cool for a few minutes before frosting.