Warm 2 1/4 cup milk in a microwave-safe bowl or cup in 30-second increments until it reaches 100–110°F.
In the bowl of a stand mixer, combine the warm milk, 2 tablespoons granulated sugar, 2 1/4 teaspoons instant dry yeast, 1 tablespoon salt, 3 tablespoons butter (melted), and most of the flour, reserving 1 cup. Mix on low speed for 1 minute until combined. Gradually increase the speed and add the remaining flour, 1/4 cup at a time, until the dough forms a smooth and elastic ball. The dough should be soft and slightly tacky but not sticky.
Transfer the dough to a greased bowl, cover it with plastic wrap or a clean kitchen towel, and let it rise in a warm place for 90 minutes, or until it doubles in size.
After the dough has risen, divide it into two equal portions. Use a rolling pin to roll each portion into a rectangle measuring approximately 9 x 15 inches. Spread 2 tablespoons of softened butter evenly over each rectangle, leaving a 1/2-inch border along one long edge.
In a small bowl, mix 1/2 cup brown sugar and 1 tablespoon ground cinnamon. Sprinkle the mixture evenly over the buttered surfaces of both rectangles. Starting from the buttered edge, roll each rectangle tightly lengthwise into a log. Pinch the seams and ends to seal.
Place each roll seam-side down into a lightly greased 9 x 5-inch loaf pan. Cover the pans and let the dough rise again for about 60 minutes, or until it doubles in size.
Preheat the oven to 350°F.
Bake the loaves for 35–40 minutes, or until the tops are golden brown.
Remove the loaves from the oven and let them cool in their pans for 10 minutes. Carefully transfer the loaves to a wire rack to cool completely before slicing.
Video
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Notes
No stand mixer? No problem! Start out by stirring with a spoon until it becomes too difficult to stir. Turn the dough out onto a clean surface and knead it with your hands, gradually adding in more flour and folding, pressing, and working the dough (kneading) until you have a soft and smooth dough ball that is tacky, but not sticky enough to stick to your hands.