In a large mixing bowl, add the warm milk, yeast, and sugar. Stir and let sit for 2 minutes. Add the butter, eggs, 3.5 cups of the flour (reserving the rest for kneading), and salt. Stir to combine and then pour out on to a countertop dusted with flour. 

Knead the dough for 5 minutes, using the remaining 1/2 cup flour to keep the dough from sticking to the countertop and hands. Knead until the dough is no longer sticky and it has a smooth surface. 

Spray the bowl with non-stick cooking spray (or a little canola oil), place the dough in the bowl and turn it once so the dough ball is coated with oil. Cover with plastic wrap and let it sit in a warm area for 2 hours. 

After the dough has doubled in size, sprinkle more flour on the countertop and roll out the dough into a 12 x 20 rectangle. 

Evenly spread the butter on the dough and top with brown sugar and cinnamon. On the long side, start rolling the dough until you have one large tube of cinnamon roll dough. 

Spray a 13×9 baking dish with cooking spray. 

When slicing the dough, make small marks in the dough to ensure even cutting. Cut once down the center of the dough and cut the two pieces into 6, 1-inch slices. Place the rolls in the baking dish, swirl side up. Cover again for another 30 minutes. 

Heat oven to 400°F and bake the rolls in a heated oven for 15-20 minutes or until the tops are golden brown. 

Mix the powdered sugar and water together to form a glaze and pour over hot rolls.