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 half of the flour and beat at low speed until incorporated. Add in the milk/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 lightly 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 and divide in half. Working with 1 piece at a time, roll each half of the dough into a 7.5 x 12 inch rectangle, 1/4 inch thick.
8. Evenly spread the dough with half of the cinnamon butter mixture. Working from a long side, tightly roll up the dough. Place the rolled dough on a cookie sheet lined with parchment paper or a silicone mat. Repeat with remaining dough. Place the cinnamon rolls in the freezer for about 10 minutes. (this allows you to cut even slices)
9. Butter a 9x13x2 or a 12- inch cast iron skillet. Cut the rolls 1 inch thick (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.