In a large bowl, combine warm milk, yeast, and sugar. Let stand for 5 minutes until foamy.
Add salt, butter, and flour. Mix until a dough forms. Turn the dough out onto a lightly floured surface and knead for 5-7 minutes until smooth and elastic.
Place the dough in a greased bowl, turning to coat. Cover and let rise in a warm place for 1 hour, or until doubled in size.
Roll out the dough into a 12x18 inch rectangle. Combine brown sugar and cinnamon; sprinkle over the dough.
Roll up the dough tightly, starting from the long side. Cut into 12 slices and place in a greased 9x13 inch baking pan.
Cover and let rise for another 30 minutes.
Bake at 375°F (190°C) for 20-25 minutes, or until golden brown.
Notes
These cinnamon rolls are best served warm with a glaze or cream cheese frosting.