1. In a small bowl combine the milk, yeast and 1/4 teaspoon granulated sugar. Let the mixture stand until foamy, about 5 minutes.
2. In the bowl of a stand mixer fitted with the paddle attachment, beat 1 stick of butter with 1/2 cup of granulated sugar and salt at medium speed, until light and fluffy, about 3 minutes.
3. Beat in the eggs, 1 at a time, until well blended.
4. Add in half of the flour and beat at low speed until incorporated. Add in the yeast mixture. Blend for 1 minute and then stop the mixer and scrape down the bowl. Swap out the paddle for the dough hook attachment.
5. Gradually add the remaining flour and beat at medium speed for about 5 minutes. You will have a soft sticky dough. Scrape the dough into a large oiled bowl and cover with plastic wrap. Let the dough stand in a warm place until it is doubled in size, about 1 hour.
6. While the dough is resting, make the filling: In a medium bowl, blend the remaining 2 sticks of butter with the brown sugar, 2 tablespoons Cinnamon and a pinch of salt. Set aside.
7. Turn the dough out onto floured surface. Either roll dough into 15x12 inch rectangle that is 1/4 inch thick, or divide in half and roll each half into 7.5 x 12 inch rectangle.
8. Evenly spread the dough with the cinnamon butter mixture. Working from a long side, tightly roll up the dough.
9. Butter a 9x13x2 or a 12- inch cast iron skillet. Cut the rolls into1 1/2 inch pieces (you should have 20). Arrange the cinnamon rolls, cut side up, in the pan, starting from the edge and working into the center.
10. Cover the rolls with plastic wrap and let them rise in a warm place for about 1 hour. Rolls are ready when they appear pillowy.
11. Preheat oven to 350ºF.
12. Remove the plastic wrap from the rolls and bake them for about 25-30 minutes, until golden and an instant-read thermometer inserted in the center registers 180°F.
13. Let cool for 5-10 minutes before frosting.
14. In a small bowl, mix the confectionery sugar, milk and the remaining 1/4 teaspoon of cinnamon.
15. Glaze and serve warm.
Pro Tip: Place the cinnamon rolls in the freezer for about 10 minutes before slicing. This allows for even slices.