Step 1

Heat the oven. Arrange a rack in the middle of the oven and heat to 350°F. Coat a 9x13-inch baking dish with cooking spray or butter; set aside. Make and fill the rolls while the oven is heating.

Step 2

Mix the filling. Mix 1/2 cup of the sugar and the cinnamon together in a small bowl; set aside.

Step 3

Make the dough. Place the flour and remaining 1/4 cup sugar in a large bowl and whisk to combine. Mix the milk and 4 tablespoons of the melted butter together in a medium bowl. Add the milk mixture to the flour mixture and stir with a rubber spatula or wooden spoon until a soft dough forms and no dry bits of flour remain.

Step 4

Knead the dough. Transfer the dough onto a generously floured work surface. Sprinkle with more flour, then knead until the dough is fairly smooth, sprinkling with more flour as needed to prevent sticking. Do not overknead or the cinnamon rolls will be tough.

Step 5

Roll the dough out. Flour a rolling pin and roll the dough into a 24- by 10-inch-long rectangle about 1/4-inch thick, with the longer side facing you.

Step 6

Fill the dough. Brush 2 tablespoons of the melted butter onto the surface of the dough, using it all. Sprinkle it evenly with the cinnamon-sugar mixture, leaving a 1/2-inch border.

Step 7

Roll the dough up. Starting at the long end closest to you, roll the dough up tightly into a log, using a bench scraper as needed to help release the dough from the work surface. Pinch the seam together at the top.

Step 8

Cut the dough. Position the log seam-side down. Cut the dough crosswise into 15 pieces.

Step 9

Fill the baking dish. Place the cut rolls cut-side up in the baking dish, 5 across and 3 down the dish.

Step 10

Butter the rolls. Brush the tops of the cinnamon rolls with the remaining 2 tablespoons of melted butter.

Step 11

Bake the rolls. Bake until puffed, golden-brown, and a toothpick or skewer inserted in several spots comes out clean, about 35 minutes. Meanwhile, make the glaze.

Step 12

Make the glaze. Place the powdered sugar, milk, and salt in a medium bowl and whisk until smooth; set aside.

Step 13

Glaze the rolls. When the cinnamon rolls are ready, place the baking dish on a wire cooling rack. Drizzle evenly with the glaze, then let cool 15 minutes before serving.