Dissolve the yeast in the 1/4 cup water.
Mix flour, sugar, and salt.
Add softened butter and yeast mixture to the one cup of warm milk.
Mix the liquid mixture with the dry ingredients.
Mix well and knead until smooth. (Or knead with KA Mixer for 6-7 minutes)
Put in a greased bowl and let rise for about an hour, till doubled in size.
Punch down the dough and roll out into a rectangle.
Spread with softened butter and then sprinkle generously with brown sugar and cinnamon mixture.
Roll up and cut into rolls. Place in two greased 9 inch pans and let rise again, about an hour.
Bake at 400 for 13-15 minutes.