In a small bowl, add yeast, 1 tablespoon sugar, and warm water. Stir to combine.
Cover with a paper towel and let it rest for 5 minutes.
In the large bowl, combine milk, sugar, salt, and butter. Add yeast mixture, and stir until well combined.
Continue to add flour and knead for 5 minutes until the dough is smooth, and stretchy.
Cover the dough with a clean towel, and place it in a warm place for 20 minutes or until the dough is double in size.
While the dough is rising, let make the filling. Combine sugar, butter, and ground cinnamon. Set aside.
When the dough is ready, use your hand and punch it down in the center. Roll out on the clean surface. Form the dough in a rectangle shape (aproximate 10x12 inches).
Spread filling evently on the dough and roll the dough up.
Cut the dough into one inch and place it on the glass baking dish.
While the rolls are cooking, beat together the frosting ingredients in a large bowl.
Preheat oven 350 degrees F. Bake for 20 minutes or until golden brown.
Remove from oven and let it sit for few minutes.
Spread the frosting on top of the rolls.