In a large bowl, whisk together warm milk, melted butter, and granulated sugar. The mixture should be just warm.

Sprinkle the yeast evenly over the warm mixture and let set for 1 minute. Add 4 cups of all-purpose flour to the milk mixture and mix well.

Cover the bowl with a plastic wrap and keep in a warm place to rise for 1 hour. After 1 hour, the dough should have nearly doubled in size.
Remove the towel and add additional ¾ cup of flour, baking powder, and salt. Stir well, then take out onto a floured surface.

Roll the dough out into a large rectangle, about 1 cm thick.
Spread the softened butter evenly over dough.
Sprinkle evenly with brown sugar and cinnamon. Press the mixture into the butter.

Roll up the dough, forming a log, and pinch the seam closed.
Cut the log in half, then divide each half into 7 evenly sized pieces.

Divide the cinnamon rolls in each cake pan, one in the center, other around the sides. Cover with plastic wrap and place in a warm place to rise for 30 minutes. Preheat oven to 180˚C.

To prepare the glaze, Whisk together butter, milk, and powdered sugar, until smooth.