In a bowl, combine warm milk, sugar, and melted butter. Stir in the yeast and let it sit for 5-10 minutes until foamy.
In another bowl, combine flour and salt. Add the yeast mixture and stir until a dough forms.
Knead the dough on a floured surface for 5-7 minutes or until smooth. Place in a greased bowl, cover, and let it rise in a warm area until doubled in size, about 1 hour.
Roll the dough out into a rectangle. Spread softened butter over the dough and sprinkle with a mixture of brown sugar and cinnamon.
Roll up the dough, starting from one of the long edges, and cut into 12 equal pieces.
Place rolls in a greased baking dish, cover, and let rise for another 30 minutes.
Preheat oven to 180°C (350°F). Bake the cinnamon rolls for 20 minutes or until golden brown. Allow to cool slightly before serving.