In a small bowl, add warm water, yeast and 1 Tablespoon of sugar. Stir, and cover with a paper towel. Let sit for about 5 minutes until bubbly.
In a large bowl, stir together butter, milk, sugar and salt. Add yeast mixture and stir until combined. Add one cup of flour and stir until smooth. Add the remaining flour 1/2 cup at a time. Knead for 1-2 minutes. If the dough is too sticky, you can add a little more flour.
Once dough is nice and soft, cover the bowl with plastic wrap and place in a warm spot. Allow dough to rise for about 20 minutes. I like to warm the oven to 200°F with a small pan of water, turn it off and set the bowl in there to rise.
While dough is rising, make the filling. Combine the butter, sugars and cinnamon in a small bowl.
Once your dough has risen, punch it down and roll out on a floured surface. You want to form a rectangle, approximately 10×12 inches. It doesn’t have to be perfect. Spread filling onto the dough with a brush and then roll the dough up. I did not use all of the filling. Cut the dough into one inch pieces with floss or a large knife. Place dough onto a buttered pie dish with rolls about 1 inch apart. Let rolls rise for about 15 minutes.
Bake at 350°F for 18-20 minutes, or until golden brown. Remove from oven and allow to cool.
While the rolls are cooking, beat together the frosting ingredients in a large bowl and then spread on top of the rolls. You can add more milk or powdered sugar to reach your desired consistency.
Storing and reheating: Store in an airtight container. Reheat one roll in the microwave for 10-15 seconds. Rising tip: Turn the oven to 200°F. Then turn off the oven and let the dough rise in the oven. Making the night before: You can make these up to 12 hours ahead of time. Simply roll them out and place on a baking sheet. Let sit for 30 minutes to rise and then cover tightly with foil that has been sprayed with non stick spray. Refrigerate overnight. Then in the morning remove from the fridge and let rise about 1-2 hours before baking. Then bake as directed.Freezing cinnamon rolls: You can freeze the rolls after they have been baked and cooled. Simply place in a freezer container, then set out to thaw overnight. You can also freeze the rolled dough. Simply place the rolls on the baking sheet and then cover tightly with foil. Then freeze for up to 2 months. When ready to bake allow to thaw and rise for about 4 to 5 hours. I usually let them rise in the oven for the last hour. Once they have risen, bake according to directions.