Prepare the dough:

• In a mixing bowl, combine warm milk and sugar. Sprinkle the yeast over the milk and let it sit for 5 minutes until frothy.

• Add melted butter, salt, and flour into the yeast mixture. Mix until a dough forms.

• Knead for about 5-7 minutes until smooth. Let the dough rest in a warm place for about 1 hour until it doubles in size.

Prepare the filling:

• While the dough is rising, mix brown sugar and cinnamon in a small bowl.

• Once the dough has risen, roll it out on a floured surface to about 1/4 inch thick.

• Spread butter over the dough, then evenly sprinkle the cinnamon-sugar mixture.

Form the rolls:

• Roll up the dough tightly into a log and cut it into 1-inch slices. Arrange the slices in a cast iron skillet, leaving a little space between them.

Bake the rolls:

• Preheat your oven to 350°F (175°C). Allow the rolls to rise in the skillet for about 30 minutes.

• Once risen, place the skillet in the preheated oven and bake for 20-25 minutes, or until golden brown.

Prepare the glaze:

• While the rolls are baking, mix powdered sugar and milk in a small bowl to make a smooth glaze.

Glaze and serve:

• Once the cinnamon rolls are done, remove them from the oven and drizzle the glaze over the top while they’re still warm.