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Dissolve the yeast into sugar water and let sit for about ten minutes.
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Meanwhile, combine all other ingredients in the bowl of a mixer and mix well.
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Pour the yeast into the dry mixture and mix slowly until completely incorporated. The dough should be very sticky and lumpy.
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Let sit for about five minutes to allow dry ingredients to fully hydrate, thus creating a smoother dough.
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Mix for another five minutes on low speed. The dough should be smooth and just barely stick to the sides of the bowl.
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Place the dough in a lightly greased bowl and cover with a damp towel for about an hour. Gently deflate the dough and knead to form a smooth ball, then allow to rise once again for about an hour.
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Gently stretch the dough into a large rectangle about 1/4" thick. Thoroughly mix dry ingredients.
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Brush the milk onto the dough and sprinkle the cinnamon mixture over it.
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Roll the dough into a tight spiral, brushing the end of the dough with milk to hold it closed.
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Cut with a very very sharp knife and place the rolls onto a sprayed pan.
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Cover and allow to proof until very soft and full in size, probably another hour or two.
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Bake at 375 until the edges are golden and the very center of each roll starts to brown.