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 might not need the full 5th C) you don't want the dough to be sticky, but you don't want it to start pulling away from the sides either
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, knead it LIGHTLY and roll it out into a long rectangle, about 26 inches long (twice as long as wide easily). 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.
roll it into a LONG roll, pinching the ends closed, and cut it in half (13 inches long each).
pace it on some parchment paper and cut it down the center lengthwise, and open it up so you see the ribbons of buttery sugar
Start twisting, one side over the other, until you get to the end, and fold the ends over together.
Place the twists side to side in a 9x13 pan (this will help it from spreading too much) and let it sit, and rise slightly, 30-45 mins.
Preheat the oven to 350
Cook about 10 mins, then using the parchment paper, swap the loafs (so the center that is less cooked is now on the outside so you can cook them evenly, it's so thick it took longer to cook than a traditional cinnamon roll.)
Bake another 10 mins. When it's golden brown and doesn't feel squishy anymore it's done!
Beat the frosting ingredients together until smooth and you can either spread across the top, or serve on the side (I did this so you could see the braid)