Heat the milk in a small pan to scalding (it should be just short of boiling -- it should have little bubbles). Remove from heat and stir together with sugar, salt and ¼ cup of butter (cut into pieces). Once the butter is melted, sprinkle the yeast on the surface of the liquid and allow to sit for 2-3 minutes, until it foams. Stir.
Add the flour one cup at a time, stirring until combined. Turn the dough out onto a floured board and knead with floured hands until the dough forms a cohesive ball.
Place the dough in an oiled bowl and turn to coat. Cover with a dish towel and leave in a draft-free, warm spot for 1½ to 2 hours, until it doubles in size.
Turn the dough out onto a floured board and roll into an 8x12-inch rectangle. Melt the remaining butter and brush the dough with half of it. Sprinkle all over with brown sugar and cinnamon. Roll (on the long edge) into a cylinder. Cut into 1-inch pieces with a sharp knife and arrange in a 9x13-inch greased baking pan. Cover (leaving room for the dough to rise) and refrigerate overnight.
In the morning, remove the pan from the refrigerator and let sit in a warm, draft-free place for about an hour, or until the rolls have doubled in size.
Preheat the oven to 400 degrees. Bake for 18-20 minutes, until golden. Remove from the oven and let cool slightly before glazing.
To make the glaze: stir together ingredients in a small bowl and spoon over the warm rolls.
Recipe by Maine Course at https://mainecourse.bdnblogs.com/2014/12/24/recipes/overnight-homemade-cinnamon-rolls-recipe/