Combine the sugar, milk and yeast together in a bowl and let it come to life for about 10 minutes. When little gas bubbles emerge, add the rest of your ingredients. Knead into a soft dough for about 2 minutes. You’ll know it’s good when you press your finger into the dough and it springs back. Don’t over work the dough. If it doesn’t seem super springy, or if it’s too wet, add a little extra flour.
Transfer dough into a greased bowl and cover with plastic wrap. Let sit for 1-2 hours depending on how warm your kitchen is. If you have a proof setting on your oven, pop it in there (with a cloth covering instead of plastic) for 30 minutes.
While the dough is rising, make your filling by combining the brown sugar with the cinnamon in a bowl and set aside.
Once it has risen, grease your working surface and roll the dough out into a large rectangle.
Preheat your oven to 400 degrees and place a rack in the middle of the oven.
Spread your unsalted butter on the rolled out dough and sprinkle on your filling. Gently press the filling into the dough to keep it in place.
Starting with your short end, tightly roll the dough up. Once rolled, cut into 2 inch slices and place in your greased baking dish.
Let the dough rise for 15-25 minutes on the counter before popping in the oven. Place pads of butter on top to keep the dough moist while cooking.
Bake for 15-20 minutes until the tops are golden brown.
While cinnamon rolls are baking, combine all your ingredients for the frosting and set aside.
Remove cinnamon rolls from the oven, let sit for 5-10 minutes, spread frosting and enjoy.