Warm the milk in a small microwavable bowl for about 90 seconds. Add 1 teaspoon of sugar and the two envelopes of active dry yeast. Allow it to sit for about 10 minutes until frothy.

In a large bowl, whisk together 4 cups of bread flour, 2 teaspoons of cinnamon, and 1 teaspoon of salt. Set aside.

In an electric mixer bowl, combine 1/2 cup of softened butter, 1/2 cup of granulated sugar, and 1/4 cup of brown sugar. Beat until smooth, then add the beaten eggs and mix until combined.

Add 1 cup of the flour mixture to the wet ingredients and beat until just combined. With the mixer on low, pour in the yeast mixture and add 2 more cups of flour mixture.

Switch to a dough hook and add the remaining flour. Knead on low speed for about 8-10 minutes until the dough forms a ball and is not sticky.

Place the dough in a buttered bowl and cover with plastic wrap. Let it rise in a warm place for about 2 hours, or until nearly doubled.

In a separate bowl, mix the melted butter, brown sugar, and cinnamon for the filling.

Turn the dough out onto a floured surface and roll into a long rectangle. Spread the filling evenly over the surface.

Roll the dough tightly from one short end into a log. Trim ends if necessary and place seam side down in a buttered loaf pan. Cover with plastic wrap and allow to rise for 30 minutes.

Preheat oven to 350°F. Mix 2 teaspoons of granulated sugar and 1/2 teaspoon of cinnamon for the topping. Brush the dough with softened butter and sprinkle topping over the top.

Bake uncovered in the middle of the oven for 30 minutes, then cover with foil and bake for another 30 minutes. Let cool in the pan for about 10 minutes before transferring to a wire rack.

In a small bowl, whisk together powdered sugar and whole milk for the icing. Drizzle over warm bread before slicing.