lightly stir the yeast, sugar and warm water together in the bottom of your mixing bowl
let sit 5-10 mins (until double is size) to activate the yeast
With the mixer on low add the milk, butter, sugar, egg and salt
Add the flour 1 C at a time you want the dough to be slightly sticky - but just starting to pull away from the sides.
Pour it into a greased bowl, cover with a damp towel and let rise, someplace warm, until doubled in size, about 60 mins.
flour your counter top and pour the dough on to it, press it out into a rectangle then roll it out to about 15-26 inches or so. It will be about 1/4 inch thick and give you more swirls this way. You want it thin, that will give you more twists, about 1/4 inch thick
cover the dough from edge to edge with the soft butter. Use it all, don't be stingy.
mix the sugars and cinnamon and cover it entirely, again use it all, it will be thick.
Starting at the shorter side start rolling up along the long side.
using non flavored floss cut into 15 pieces
line a 9x13 pan with parchment paper and place the pieces down
let rise a second time until poofy - and almost completely filling the pan - about 60 mins
Bake at 375 for 22-25 mins
Beat the frosting ingredients together and spread over warm rolls