In the bowl of a stand mixer, combine the warm milk and the yeast. Let sit for about 5 minutes or until the yeast has bloomed.
Next, add the oil, salt, and sugar, giving the mixture a stir.
Add 3 cups of the all-purpose flour and mix using the dough hook attachment, then add the rest until the dough starts to pull away from the sides of the bowl.
Lightly flour a working surface, remove the dough, and knead by hand until smooth.
Let the dough proof in a greased bowl until doubled in size.
Meanwhile, melt together the butter, brown sugar, and cinnamon. Once the dough is doubled, roll it out on a floured surface into a large rectangle.
Using the back of a spoon, spread out the cinnamon filling and leave ¼ inch uncovered on each side.
Next, fold the dough over itself by taking a short end of the rectangle and laying it halfway over the dough, then doing the same thing to the other side so that there is a total of three layers of dough. Use a knife to cut long strips of dough off of the rectangle. Twist the strip of dough around two fingers to form a rose shape and place on a greased baking sheet.
Bake at 350°F for about 20-25 minutes until the dough starts to turn golden brown.
Dissolve the granulated sugar in the hot water and drizzle over rolls as soon as they come out of the oven. Enjoy!
