These are so easy and so delicious! you don't have to wait for the dough to rise because it rises in the oven (but you can if you want). This makes 12 slightly smaller rolls, or 10 regular sized rolls, or 6 big rolls, and it's easy to double the recipe and play with it to get it how you want it!
Heat milk in microwave safe bowl just until warm, about 45 seconds to one minute. Stir in 1/2 cup of the brown sugar until it dissolves, then add the yeast and cover the bowl and let sit for 10-15 minutes or until foamy. Melt 1/2 stick of the butter and mix with the flour and milk/yeast mixture until a soft dough forms. Grab another handful of flour and incorporate it in as you knead until the dough is slightly sticky but otherwise pliable. Cover and let it sit for 10 more minutes.
soften the other stick of butter and stir in the remaining brown sugar and cinnamon. Spread out the dough on a greased cookie sheet until it is covered. Spread most of the butter/cinnamon mixture over the dough, reserving a small amount for later. Slowly roll the dough until it is one long roll with the cinnamon mixture inside. Cut into 1-2 inch rolls with a sharp knife.
Spread waxed paper on another cookie sheet and spray with cooking spray. Set the cinnamon rolls on the sheet. Spoon/drizzle the remaining cinnamon/butter mixture over the top. Bake at 350 for about 20 minutes or until brown and gooey.